Browsing by Author "Destefanis, Eduardo"

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    Determining diameter of animal textile fiber using image processing techniques
    (2014) Arcidiácono, Marcelo J.M.; Destefanis, Eduardo; Constable, Leticia E.; Vázquez, Juan Carlos
    In the context of productive sustainability of animal textile fibers, the possibility to achieve safe and inexpensive methods allowing to measure fiber quality is paramount for farmers pretending to compete in local and international markets. Using an image of a longitudinal cut of camelid fibers, we propose a computational method in which a Hierarchical Temporary Memory algorithm recognizes and identifies each of these fibers and a modified Gabor filter enhances and reconstructs the input image in order to reduce measurement errors of the mean diameter due to crossovers and out of focus objects. In this paper this procedure is described and results are discussed. The obtained results agree with the laboratory measurements.
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    Monocular simultaneous localization and mapping system for a wheeled mobile robot
    (2013) Pérez Paina, Gonzalo; Destefanis, Eduardo
    The present work describes the implementation of a monocular visual SLAM applied to a wheeled mobile robot moving in an indoor environment. It will be described the whole system and details of each part of the current implementation. Parts comprising the system include the estimation filter together with both motion and measurement models, as well as a set of computer vision algorithms for image processing and data association. The implemented visual SLAM make use of the latest techniques for undelayed landmark initialization which are required given the partially observability of bearing only SLAM. Presented results show the performance of the implementation mainly for robot pose estimation, from which it can be observed a highly accurate result in robot orientation estimation.