Computer vision system for 3D mapping and tracking of objects

• Grant number: 12/14725-4
• Support Opportunities: Scholarships in Brazil - Master
• Effective date (Start): September 01, 2012
• Effective date (End): August 31, 2013
• Field of knowledge: Physical Sciences and Mathematics - Computer Science - Computer Systems
• Principal Investigator: Roseli Aparecida Francelin Romero
• Grantee: Raphael Montanari
• Host Institution: Instituto de Ciências Matemáticas e de Computação (ICMC). Universidade de São Paulo (USP). São Carlos , SP, Brazil

Abstract

This work plan proposes the development and analysis of a system in which a robot crosses through an environment, capturing images from a thermal câmera to create a 3D map of the environment and to track objects in the scene using monocular vision. The map created from the processing of images will be represented as a point cloud and will be used to track objects in the scene. The object tracking will be developed using pulse coupled neural networks and image matching techniques. The constructed system will be validated in simulation environment and tested in air robots.

Academic Publications

(References retrieved automatically from State of São Paulo Research Institutions)

MONTANARI, Raphael. Detection and classification of objects in images for vehicle tracking. 2015. Master's Dissertation - Universidade de São Paulo (USP). Instituto de Ciências Matemáticas e de Computação (ICMC/SB) São Carlos.