Orientación de un objeto 3D : implementación de redes neuronales artificiales utilizando lógica programable / Orientation of a 3D object: implementation with an artificial neural network using a programmable logic device

Carnevale, Federico J. (2010) Orientación de un objeto 3D : implementación de redes neuronales artificiales utilizando lógica programable / Orientation of a 3D object: implementation with an artificial neural network using a programmable logic device. Master in Engineering, Universidad Nacional de Cuyo, Instituto Balseiro.

PDF (Tesis)

Abstract in Spanish

La extracción de información compleja a partir de imágenes es una habilidad clave en las máquinas inteligentes con vasta aplicación en los sistemas automatizados, la manipulación robótica y la interacción humano-computadora. Sin embargo, resulta una tarea extremadamente difícil de resolver con estrategias clásicas, geométricas o analíticas. Por lo tanto, un enfoque basado en aprendizaje a partir de ejemplos parece más adecuado. Esta tesis trata acerca del problema de orientación 3D, cuyo objetivo consiste en estimar las coordenadas angulares de un objeto conocido, a partir de una imagen tomada desde cualquier dirección. Se describe un sistema, basado en redes neuronales artificiales, para resolver este problema en tiempo real. La implementación, capaz de funcionar a frecuencia de video, se realiza utilizando un dispositivo de lógica programable. El sistema digital final demestró la capacidad de estimar dos coordenadas de rotación de un objeto 3D conocido en rangos de -80º a 80º. Su velocidad de funcionamiento permite la operación a frecuencia de video. La precisión del sistema puede incrementarse sucesivamente aumentando el tamaño de la red neuronal artificial y utilizando una mayor cantidad de ejemplos de entrenamiento.

Abstract in English

Complex information extraction from images is a key skill of intelligent machines, with wide application in automated systems, robotic manipulation and human-computer interaction. However, solving this problem with traditional, geometric or analytical, strategies is extremely difficult. Therefore, an approach based on learning from examples seems to be more appropriate. This thesis addresses the problem of 3D orientation, aiming to estimate the angular coordinates of a known object from an image shot from any direction. We describe a system based on artificial neural networks to solve this problem in real time. The implementation is performed using a programmable logic device. The digital system described in this paper has the ability to estimate two rotational coordinates of a 3D known object, in ranges from -80 º to 80º. The operation speed allows a real time performance at video rate. The system accuracy can be successively increased by increasing the size of the artificial neural network and using a larger number of training examples.

Item Type:Thesis (Master in Engineering)
Keywords:Neural networks; Redes neuronales; Mathematical logic; Lógica matemática; 3D orientation; Orientación 3D; Artificial Neural Networks; Redes neuronales artificiales; Programmable logic devices; Lógica digital programable; Artificial vision; Visión artificial
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Subjects:Mathematics > Mathematical logic
Divisions:Investigación y aplicaciones no nucleares > Física > Física estadística
ID Code:215
Deposited By:Marisa G. Velazco Aldao
Deposited On:12 Oct 2010 14:36
Last Modified:12 Oct 2010 14:36

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