Detección Eficiente de Elipses en Imágenes. Aplicación al Posicionamiento 3D de un Robot Industrial
Efficient ellipse detection. Application to the 3D pose estimation of an industrial robot
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Application to the 3D pose estimation of an industrial robot" ] ] "textoCompleto" => "<span class="elsevierStyleSections"><span id="sec0010" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle">Referencias no citadas</span><p id="par0005" class="elsevierStylePara elsevierViewall"><a class="elsevierStyleCrossRef" href="#bib0005">Ballard, 1981</a>, <a class="elsevierStyleCrossRef" href="#bib0010">Bouguet, 2010</a>, <a class="elsevierStyleCrossRef" href="#bib0015">Chaumette and Hutchinson, 2006</a>, <a class="elsevierStyleCrossRef" href="#bib0020">Cheng and Liu, 2004</a>, <a class="elsevierStyleCrossRef" href="#bib0025">Chum and Matas, 2005</a>, <a class="elsevierStyleCrossRef" href="#bib0030">DeSouza and Kak, 2002</a>, <a class="elsevierStyleCrossRef" href="#bib0035">Fischler and Bolles, 1981</a>, <a class="elsevierStyleCrossRef" href="#bib0040">Fitzgibbon et al., 1999</a>, <a class="elsevierStyleCrossRef" href="#bib0045">Fuente and de la, 2011</a>, <a class="elsevierStyleCrossRef" href="#bib0050">Gracia and Pérez, 2010</a>, <a class="elsevierStyleCrossRef" href="#bib0055">Halir and Flusser, 1998</a>, <a class="elsevierStyleCrossRef" href="#bib0060">Hahn et al., 2008</a>, <a class="elsevierStyleCrossRef" href="#bib0065">Hartley and Zisserman, 2004</a>, <a class="elsevierStyleCrossRef" href="#bib0070">Hermann and Klette, 2006</a>, <a class="elsevierStyleCrossRef" href="#bib0075">Hough, 1962</a>, <a class="elsevierStyleCrossRef" href="#bib0080">Illingworth and Kittler, 1998</a>, <a class="elsevierStyleCrossRef" href="#bib0085">Kanatani and Liu, 1993</a>, <a class="elsevierStyleCrossRef" href="#bib0090">Kanatani and Ohta, 2004</a>, <a class="elsevierStyleCrossRef" href="#bib0095">Liu and Qiao, 2009</a>, <a class="elsevierStyleCrossRef" href="#bib0100">Mai et al., 2008</a>, <a class="elsevierStyleCrossRef" href="#bib0105">Marji, 2003</a>, <a class="elsevierStyleCrossRef" href="#bib0110">McLaughlin, 1998</a>, <a class="elsevierStyleCrossRef" href="#bib0115">McLaughlin and Alder, 1998</a>, <a class="elsevierStyleCrossRef" href="#bib0120">Miguel Trespaderne and Fuente, 2009</a>, <a class="elsevierStyleCrossRef" href="#bib0125">Myatt et al., 2002</a>, <a class="elsevierStyleCrossRef" href="#bib0130">Mundy and Zisserman, 1992</a>, <a class="elsevierStyleCrossRef" href="#bib0135">OpenCV, 2011</a>, <a class="elsevierStyleCrossRef" href="#bib0140">Rosenhahn et al., 2004</a>, <a class="elsevierStyleCrossRef" href="#bib0145">Rosin and West, 1995</a>, <a class="elsevierStyleCrossRef" href="#bib0150">Rousseeuw and Leroy, 1987</a>, <a class="elsevierStyleCrossRef" href="#bib0155">Soria et al., 2008</a>, <a class="elsevierStyleCrossRef" href="#bib0160">Thanh et al., 2009</a>, <a class="elsevierStyleCrossRef" href="#bib0165">Tordoff and Murray, 2002</a>, <a class="elsevierStyleCrossRef" href="#bib0170">Xu et al., 1990</a>, <a class="elsevierStyleCrossRef" href="#bib0175">Zhang, 1997</a> and <a class="elsevierStyleCrossRef" href="#bib0180">Zhang, 1998</a>.</p></span></span>" "textoCompletoSecciones" => array:1 [ "secciones" => array:6 [ 0 => array:2 [ "identificador" => "xres122575" "titulo" => "Resumen" ] 1 => array:2 [ "identificador" => "xpalclavsec109860" "titulo" => "Palabras clave" ] 2 => array:2 [ "identificador" => "xres122576" "titulo" => "Abstract" ] 3 => array:2 [ "identificador" => "xpalclavsec109859" "titulo" => "Keywords" ] 4 => array:2 [ "identificador" => "sec0010" "titulo" => "Referencias no citadas" ] 5 => array:1 [ "titulo" => "Referencias" ] ] ] "pdfFichero" => "main.pdf" "tienePdf" => true "fechaRecibido" => "2012-02-02" "fechaAceptado" => "2012-09-04" "PalabrasClave" => array:2 [ "es" => array:1 [ 0 => array:4 [ "clase" => "keyword" "titulo" => "Palabras clave" "identificador" => "xpalclavsec109860" "palabras" => array:4 [ 0 => "Reconocimiento de Patrones" 1 => "Estimación Robusta" 2 => "Visión para Robots" 3 => "Robots Industriales" ] ] ] "en" => array:1 [ 0 => array:4 [ "clase" => "keyword" "titulo" => "Keywords" "identificador" => "xpalclavsec109859" "palabras" => array:4 [ 0 => "Visual Pattern Recognition" 1 => "Robust Estimation" 2 => "Robot Vision" 3 => "Industrial Robots" ] ] ] ] "tieneResumen" => true "resumen" => array:2 [ "es" => array:2 [ "titulo" => "Resumen" "resumen" => "<p id="spar0005" class="elsevierStyleSimplePara elsevierViewall">En este artículo se presenta un algoritmo para la detección de elipses en imágenes, cuyo objetivo es el cálculo d e la posición 3D de una característica circular en una aplicación robótica. El algoritmo emplea un procedimiento estocástico RANSAC cuya eficiencia ha sido mejorada. El muestreo aleatorio ha sido sustituido por un muestreo guiado sobre las cadenas de contorno de la imagen, que son ordenadas de acuerdo a un criterio de probabilidad de formar parte de la elipse buscada. Esta estrategia disminuye notablemente la cantidad de muestras necesarias, permitiendo que el algoritmo sea adecuado para tiempo real.</p>" ] "en" => array:2 [ "titulo" => "Abstract" "resumen" => "<p id="spar0010" class="elsevierStyleSimplePara elsevierViewall">In this paper, we present a ellipse detection algorithm developed to measure the 3-D position of a circular feature in a robotic application. The algorithm uses a RANSAC stochastic procedure whose efficiency has been significantly improved, substituting the random sampling with a guided sampling on the curve segments in the image. The contours of the image are first split analyzing their curvature. Then the curve segments are sorted according to their likelihood to be part of the ellipse. We have used the length as a prior indicator of this likelihood. The RANSAC algorithm starts considering only the longer curve segments whilst shorter curve segments are progressively incorporated. This strategy notably diminishes the amount of samples needed and makes the algorithm suitable for real time.</p>" ] ] "bibliografia" => array:2 [ "titulo" => "Referencias" "seccion" => array:1 [ 0 => array:2 [ "identificador" => "bibs0005" "bibliografiaReferencia" => array:36 [ 0 => array:3 [ "identificador" => "bib0005" "etiqueta" => "Ballard, 1981" "referencia" => array:1 [ 0 => array:2 [ "contribucion" => array:1 [ 0 => array:2 [ "titulo" => "Generalizing the Hough transform to detect arbitrary shapes" "autores" => array:1 [ 0 => array:2 [ "etal" => false "autores" => array:1 [ 0 => "D.H. 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| año/Mes | Html | Total | |
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| 2024 Octubre | 5 | 0 | 5 |
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| 2023 Agosto | 11 | 4 | 15 |
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| 2023 Abril | 27 | 5 | 32 |
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| 2023 Enero | 15 | 1 | 16 |
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| 2022 Agosto | 18 | 13 | 31 |
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| 2014 Octubre | 22 | 5 | 27 |
| 2014 Septiembre | 25 | 5 | 30 |
| 2014 Agosto | 12 | 4 | 16 |
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| 2014 Junio | 12 | 2 | 14 |
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| 2014 Marzo | 49 | 52 | 101 |
| 2014 Febrero | 46 | 37 | 83 |
| 2014 Enero | 45 | 31 | 76 |
| 2013 Diciembre | 57 | 30 | 87 |
| 2013 Noviembre | 48 | 53 | 101 |
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| 2013 Septiembre | 44 | 46 | 90 |
| 2013 Agosto | 78 | 45 | 123 |
| 2013 Julio | 83 | 46 | 129 |
| 2013 Junio | 59 | 50 | 109 |
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| 2013 Abril | 81 | 39 | 120 |
| 2013 Marzo | 95 | 59 | 154 |
| 2013 Febrero | 49 | 48 | 97 |
| 2013 Enero | 43 | 45 | 88 |
| 2012 Diciembre | 47 | 64 | 111 |
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