Uma proposta de slam com determinação de informações geométricas do ambiente

PEDROSA, Diogo P. F. ; MEDEIROS, Adelardo A. D. ; ALSINA, Pablo J. . Uma Proposta de SLAM com Determinação de Informações Geométricas do Ambiente. In: CONGRESSO BRASILEIRO DE AUTOMÁTICA, 16, Salvador, BA, 2006. Anais... Salvador: CBA, 2006. v. 1. p. 1704-1709

Mapeamento de ambientes estruturados com extração de informações geométricas através de dados sensoriais

The objective of this thesis is proposes a method for a mobile robot to build a hybrid map of an indoor, semi-structured environment. The topological part of this map deals with spatial relationships among rooms and corridors. It is a topology-based map, where the edges of the graph are rooms or corridors, and each link between two distinct edges represents a door. The metric part of the map consists in a set of parameters. These parameters describe a geometric figure which adapts to the free space of the local environment. This figure is calculated by a set of points which sample the boundaries of the local free space. These points are obtained with range sensors and with knowledge about the robot s pose. A method based on generalized Hough transform is applied to this set of points in order to obtain the geomtric figure. The building of the hybrid map is an incremental procedure. It is accomplished while the robot explores the environment. Each room is associated with a metric local map and, consequently, with an edge of the topo-logical map. During the mapping procedure, the robot may use recent metric information of the environment to improve its global or relative pose

Técnicas visuais de localização e mapeamento simultâneos sem extração de primitivas geométricas da imagem

In Simultaneous Localization and Mapping (SLAM - Simultaneous Localization and Mapping), a robot placed in an unknown location in any environment must be able to create a perspective of this environment (a map) and is situated in the same simultaneously, using only information captured by the robot s sensors and control signals known. Recently, driven by the advance of computing power, work in this area have proposed to use video camera as a sensor and it came so Visual SLAM. This has several approaches and the vast majority of them work basically extracting features of the environment, calculating the necessary correspondence and through these estimate the required parameters. This work presented a monocular visual SLAM system that uses direct image registration to calculate the image reprojection error and optimization methods that minimize this error and thus obtain the parameters for the robot pose and map of the environment directly from the pixels of the images. Thus the steps of extracting and matching features are not needed, enabling our system works well in environments where traditional approaches have difficulty. Moreover, when addressing the problem of SLAM as proposed in this work we avoid a very common problem in traditional approaches, known as error propagation. Worrying about the high computational cost of this approach have been tested several types of optimization methods in order to find a good balance between good estimates and processing time. The results presented in this work show the success of this system in different environments

Análise das propriedades termofísicas, mecânicas e geométricas de telhas cerâmicas queimadas em forno caieira e forno abóbada

In the industry of ceramic in Rio G. do Norte, tile stands out as the most manufactured product by this industry, being the intermittent kiln abóbada and caieira the principal type of kiln used in burning. There was a need to make a study of the influence exerted by the type of kiln in which tiles are burnt in their thermo physical properties. The analysis started with 24 raw samples of tile, which was split in two groups of 12 samples and burnt in Abóbada and Caieira kiln. Besides that, it was made study of the tax of heat transfer to the environment (for each kiln). After having been burnt the samples were taken for laboratory analysis. The properties verified were impermeability, determination of dry mass, absorption of water, the load of bending rupture and its geometric characteristics, the tests were conducted following the currents standards. The tests were carried out according to the ABNT - NBR 15310. The calculation of the rate of heat transfer showed that the abóbada kiln is more efficient than the Caieira, however the results of tests on the samples revealed no superiority of one over another sample. So the furnace had no influence on the performance of the ceramic tiles

Análise comparativa entre propriedades mecânicas, termofísicas e geométricas de tijolos produzidos pelos fornos caieira e abóbada

In the State of Rio Grande do Norte potteries are distributed in several counties in the four meso, which are: West Potiguar, Center Potiguar, Agreste Potiguar and East Portiguar. The ceramics, mostly, are responsible for products used in construction as bricks, tiles and white brick and wood used as fuel. This paper had a primary focus in the region of Seridó. The furnaces in this region, used to manufacture bricks are configured Caieira and Valt, in most of them using principles rustic, usually operated in an empirical way, using principles of control rather primitive, predominantly visual control. The focus of this study was to analyze the differences in the thermophysical, mechanical and geometric characteristics of bricks produced by Caieira and vault furnaces, using the NBR 15720 and the evaluation of energy efficiency in both furnaces. Thermophysical characteristics were analyzed through tests to determine the water absorption obtained from the difference between dry mass and wet mass of the sample and analysis of the thermal gradient, the mechanical characteristics from determination of the compressive strength of ceramic brick popularly known as bricks and also analyzed the geometrical characteristics of the bricks in order to verify the homogeneity of manufacturing. The tests showed that the energy difference of the two furnaces is not considered responsible for a significant difference in the properties of the products