Guidance of robot arms using depth data from RGB-D camera

Image Based Visual Servoing (IBVS) is a robotic control scheme based on vision. This scheme uses only the visual information obtained from a camera to guide a robot from any robot pose to a desired one. However, IBVS requires the estimation of different parameters that cannot be obtained directly from the image. These parameters range from the intrinsic camera parameters (which can be obtained from a previous camera calibration), to the measured distance on the optical axis between the camera and visual features, it is the depth. This paper presents a comparative study of the performance of D-IBVS estimating the depth from three different ways using a low cost RGB-D sensor like Kinect. The visual servoing system has been developed over ROS (Robot Operating System), which is a meta-operating system for robots. The experiments prove that the computation of the depth value for each visual feature improves the system performance.

Materials docents de Fonaments d'Informàtica en Enginyeria de l'Edificació

Materials docents de Fonaments d'Informàtica en Enginyeria de l'Edificació

Caracterización petrográfica y petrofísica de la roca encajante de la Cueva del Rull (Vall d'Ebo, Alicante)

La Cueva del Rull se encuentra en el sector nororiental de la Cordillera Bética, en el denominado Prebético Externo de Alicante (Azema 1977). Regionalmente, la zona de estudio está dominada por la dinámica compresiva de los materiales calizos existentes (Cretácico Superior) afectados, desde el Mioceno Medio y durante el Mioceno Superior, por diversos movimientos tectónicos a partir de los cuales se origina la Depresión de la Vall d'Ebo. Esta fosa tectónica, cuyos bordes norte y sur quedan delimitados por fallas normales con dirección aproximada E-O, está rellena por materiales rud��ticos de edad Mioceno Superior, predominantemente conglomeráticos, de espesor variable (decenas a más de 100 metros), localmente plegados y depositados sobre margas de facies “tap” (margas mal estratificadas de carácter arcillo-limoso, desagregadas y de color blanquecino en superficie, cuya edad se atribuye al Mioceno Medio).

Using a RGB-D camera for 6DoF SLAM

This paper presents a method for fast calculation of the egomotion done by a robot using visual features. The method is part of a complete system for automatic map building and Simultaneous Localization and Mapping (SLAM). The method uses optical flow in order to determine if the robot has done a movement. If so, some visual features which do not accomplish several criteria (like intersection, unicity, etc,) are deleted, and then the egomotion is calculated. We use a state-of-the-art algorithm (TORO) in order to rectify the map and solve the SLAM problem. The proposed method provides better efficiency that other current methods.