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Projection of Video in Virtual Environments – Enrichment of 3D Scenarios with Images Collected by Robotic Vehicles

Title
Projection of Video in Virtual Environments – Enrichment of 3D Scenarios with Images Collected by Robotic Vehicles
Type
Thesis
Year
2009
Authors
Rui Gonçalves
(Author)
FEUP
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Fernando Lobo Pereira
(Technical adviser)
FEUP
Scientific classification
FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering
Other information
Resumo (PT): Existem várias aplicações que tentam de algum modo mapear o mundo real para cenários virtuais tridimensionais através da projecção de imagens reais. O exemplo mais popular e presente é o Google Earth aplicado à geografia terrestre, assim como o NASA World Wind. Implícita neste métodos está uma perfeita sincronia da posição e parâmetros intrínsecos das câmaras entre o mundo virtual e real. Nesta dissertação é apresentado um algoritmo genérico para ser aplicado no contexto de veículos robóticos, mais precisamente em veículos submarinos (ROVs-Remote Operated Vehicles) equipados com câmaras de vídeo, usados para inspecção de estruturas subaquáticas. O método faz uso das imagens recolhidas e dos dados de posição do veículo para mapear os objectos virtuais representativos das estruturas a inspeccionar. O algoritmo foi desenhado para ser usado também em veículos aéreos não tripulados (UAVs), de modo a produzir mapeamento do terreno de modo personalizado. A metodologia apresentada nesta dissertação atende à projecção das imagens como sendo um processo em tempo real, com correcção de perspectiva, em objectos 3D genéricos (não só mapeamento de terreno) minimizando os recursos de memória e com optimização no processo de calibração das imagens provenientes das câmaras.
Abstract (EN): There are many applications that map the reality onto virtual environments, through the projection of real images. One of the most popular examples is Google Earth which is applied to geography and other examples include Nasa World Wind, and 3D scanners applications. Implicit in these methods is a perfect alignment in the camera positioning between the real and the virtual worlds. This thesis presents a generic algorithm to be applied in the context of robotics, more precisely in underwater vehicles (ROVs-Remote Operated Vehicles) equipped with video cameras and used for inspections of underwater infrastructures. The method uses the images and position data of the vehicle to map the virtual objects representing the infrastructures. We have also plann to use this technology, in unmanned aerial vehicles (UAVs) to produce terrain mapping in a personalized way for a limited area. The methodology described on this dissertation attends to images projection as being a real time process, with perspective correction, onto generic 3D objects (not only planar surfaces) minimizing the system resources and with optimization in the calibration process on the source images streaming.
Language: Portuguese
Type (Professor's evaluation): Scientific
Contact: rjpg@fe.up.pt
No. of pages: 80
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