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Title: Uma interface para o controle de robôs móveis por intermédio de gestos
Authors: Albuquerque, Oto Emerson de
Keywords: Visão computacional;OpenCV;Robótica móvel;Robotino;C++
Issue Date: 27-Apr-2016
Publisher: Universidade Federal do Rio Grande do Norte
Citation: ALBUQUERQUE, Oto Emerson de. Uma interface para o controle de robôs móveis por intermédio de gestos. 2016. 82f. Dissertação (Mestrado em Engenharia Mecânica) - Centro de Tecnologia, Universidade Federal do Rio Grande do Norte, Natal, 2016.
Portuguese Abstract: Esse trabalho tem como objetivo o estudo de técnicas de visão computacional para o reconhecimento de gestos humanos, bem como sua aplicação ao controle de robôs móveis. São analisados os desafios e propostas algumas soluções para o desenvolvimento de uma interface simples, a qual permita o reconhecimento e a interpretação dos gestos gerados pela mão humana, no intuito de controlar os movimentos de um robô. Neste contexto, foi desenvolvido um programa em C++ para captar as imagens geradas por uma câmera de alta definição e, a partir da informação extraída das imagens, definir qual movimento seria realizado pelo robô. Para auxiliar a tarefa de reconhecimento e processamento da imagem captada foram utilizadas funções da biblioteca OpenCV. Os resultados obtidos com a interface desenvolvida confirmam e demonstram a viabilidade de aplicação desta tecnologia.
Abstract: The main objective of this work was to enable the recognition of human gestures through the development of a computer program. The program created captures the gestures executed by the user through a camera attached to the computer and sends it to the robot command referring to the gesture. They were interpreted in total ve gestures made by human hand. The software (developed in C ++) widely used the computer vision concepts and open source library OpenCV that directly impact the overall e ciency of the control of mobile robots. The computer vision concepts take into account the use of lters to smooth/blur the image noise reduction, color space to better suit the developer's desktop as well as useful information for manipulating digital images. The OpenCV library was essential in creating the project because it was possible to use various functions/procedures for complete control lters, image borders, image area, the geometric center of borders, exchange of color spaces, convex hull and convexity defect, plus all the necessary means for the characterization of imaged features. During the development of the software was the appearance of several problems, as false positives (noise), underperforming the insertion of various lters with sizes oversized masks, as well as problems arising from the choice of color space for processing human skin tones. However, after the development of seven versions of the control software, it was possible to minimize the occurrence of false positives due to a better use of lters combined with a well-dimensioned mask size (tested at run time) all associated with a programming logic that has been perfected over the construction of the seven versions. After all the development is managed software that met the established requirements. After the completion of the control software, it was observed that the overall e ectiveness of the various programs, highlighting in particular the V programs: 84.75 %, with VI: 93.00 % and VII with: 94.67 % showed that the nal program performed well in interpreting gestures, proving that it was possible the mobile robot control through human gestures without the need for external accessories to give it a better mobility and cost savings for maintain such a system. The great merit of the program was to assist capacity in demystifying the man set/machine therefore uses an easy and intuitive interface for control of mobile robots. Another important feature observed is that to control the mobile robot is not necessary to be close to the same, as to control the equipment is necessary to receive only the address that the Robotino passes to the program via network or Wi-Fi.
Appears in Collections:PPGEM - Mestrado em Engenharia Mecânica

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