Browsing by Author "González Dondo, Diego"

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    Aplicación de un filtro de partículas distribuido para el seguimiento de objetivos en el espacio mediante múltiples observaciones angulares
    (VIII Jornadas Argentinas de Robótica. UTN - FRBA, 2014) González Dondo, Diego; Canali, Luis R.; Toloza, Hugo
    En el trabajo se presentan simulaciones de una red inalámbrica de sensores de imagen para el seguimiento de objetivos móviles basado en la implementación de un filtro de partículas en forma distribuida. En particular se evalúa el uso de un modelo de mediciones angulares de azimut y de inclinación relativo del objetivo a seguir, para la estimación local de la velocidad y trayectoria del mismo a través de una región bajo la supervisión de la red. Además se describe el uso de un esquema de inicialización basado en la resolución por cuadrados mínimos para mejorar el desempeño del filtro.
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    Calibración de sistemas de múltiples cámaras
    (IEEE, 2015-10) González Dondo, Diego; Trasobares, Fernando; Yoaquino, Leandro; Padilla, Julián; Redolfi, Javier
    The use of multi-camera systems in target tracking applications demands to know positions and orientations of each one of the cameras in a global coordinate system. In this work is described the development and implementation of an extrinsic calibration method for multi-camera systems. A theoretical analysis of each stage of the process is shown, pointing out methods and tools. Furthermore, a new calibration pattern is proposed. The validation is performed with simple experiments and in a real deployment of IP cameras.
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    Calibration of multi-camera systems
    (Journal of Intelligent & Robotic Systems, 2014) González Dondo, Diego; Trasobares, Fernando; Yoaquino, Leandro; Padilla, Julián; Redolfi, Javier
    —The use of multi-camera systems in target tracking applications demands to know positions and orientations of each one of the cameras in a global coordinate system. In this work is described the development and implementation of an extrinsic calibration method for multi camera systems. A theoretical analysis of each stage of the process is shown, pointing out methods and tools. Furthermore, a new calibration pattern is proposed. The validation is performed with simple experiments and in a real deployment of IP cameras.
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    Calibration of Multi-Camera Systems.
    (IEEE Xplore., 2015) González Dondo, Diego; Trasobares, Fernando; Yoaquino , Leandro; Padilla , Julián; Redolfi, Javier
    The use of multi-camera systems in target tracking applications demands to know positions and orientations of each one of the cameras in a global coordinate system. In this work is described the development and implementation of an extrinsic calibration method for multi-camera systems. A theoretical analysis of each stage of the processisshown, pointing out methods and tools. Furthermore, a new calibration pattern is proposed. The validation is performed with simple experiments and in a real deployment of IP cameras
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    Clasificación de Variedades de Semillas de Trigo usando Visión por Computadora
    (SADIO, 2016) Redolfi, Javier; González Dondo, Diego; Pucheta, Julián; Canali, Luis
    En este trabajo abordamos el problema de identificación de variedades de semillas de trigo. La identificación de semillas de trigo es una tarea realizada por personal calificado en diversas etapas de la producción agropecuaria, pero es una actividad lenta, tediosa y de baja repetibilidad. La disponibilidad de un método de clasificación automático de semillas acelera los procesos de evaluación y permite que sean reali-zados en diferentes etapas del proceso de producción de manera simple y con bajo costo. La solución propuesta es el uso de técnicas actuales de clasificación de imágenes como son Vectores de Fisher de la Familia Exponencial y Redes Neuronales Convolucionales. Con estas técnicas se logra una exactitud del 95 % en la clasificación de un dataset de semillas de 6 variedades de trigo recolectado para esta tarea el cual se encuentra disponible al público para futuras evaluaciones.
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    Differential-drive Mobile Robot Controller with ROS 2 Support.
    (Revista Elektron, 2023) Albarrán, Gustavo; Nicolodi, Juan; Ruiz, Dante; González Dondo, Diego; Pérez Paina, Gonzalo
    Autonomous Mobile Robots, known as AMRs, are used in the internal logistics of many types of industries and production sectors. This type of robots replaces the traditional Automated Guided Vehicles (AGVs). In the case of AGVs, the path to follow is previously defined, and these robots do not have the ability to choose a different path. On the other hand, AMRs are more flexible, safe, and precise, due to the incorporation of technologies reserved until recently for research, such as autonomous navigation, computer vision systems, and Simultaneous Localization and Mapping (SLAM) technology, among others. Many of these technologies are implemented using the Robot Operating System (ROS). ROS is a set of free and open-source software libraries and tools for building robot applications. Its new version, ROS 2, was developed to be applied to production environments. This paper describes the development of a controller for a differential-drive AMR with support for ROS 2 using its implementation for embedded systems, micro-ROS. This controller is the evolution of a previous version that was used in different mobile robots for over 10 years at CIII (UTN). It is worth clarifying that this work is mainly focused on hardware development. However, some preliminary software tests have been carried out, mainly to evaluate the correct functioning of the differential-drive robot controller. Firstly, the design requirements are defined, and a microcontroller with native support for micro-ROS is selected. Then, the development of each controller stage is described, such as the power supply, the USB communication, the battery voltage sensing, the debugging port, and the final PCB design. Finally, the initial software tests that allow verifying the correct operation of the controller and the improvements compared to the previous version are mentioned. Keywords: autonomous mobile robot; differential drive; embedded controller; ROS 2; micro-ROS
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    Estimación de Estado Distribuida Basado en Agentes Lideres: Aplicación al Seguimiento de Objetivo.
    (ASAI., 2015) González Dondo, Diego
    En el trabajo se presentan simulaciones de la implementación de una estimación de estado en forma distribuida en una red de inalámbrica de sensores para el seguimiento de objetivos móviles basado en un esquema de un litro de partículas en forma distribuida en nodos lideres. Estos son seleccionados en forma dinámica de acuerdo al desplazamiento del objetivo. En particular se evalúa el uso de un modelo de medición de ángulo de orientación relativo del objetivo a seguir, para la estimación en tiempo real de la velocidad y trayectoria del mismo a través de una región bajo la supervisión de la red.
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    Sistema de medición opto-digital para experiencias de dinàmica en 2D
    (2011) Farìas de la Torre, Ernesto; Tempo, Matìas; González Dondo, Diego; Bergues, Guillermo; Mansilla, Juan Carlos; Novillo, David
    Se describe un sistema de medición de posiciones en 2D mediante el uso de una cámara digital de alta velocidad, y posterior procesamiento de imágenes. Este sistema se presenta como particularmente útil para el estudio de experiencias en 2D tales como el choque de discos y movimiento de placas en general. La velocidad de obturación, del orden de 100 cuadros por segundo, permite analizar con cierto grado de exactitud la evolución temporal de las variables físicas de interés: momento lineal y fuerza interactiva en el intervalo de interacción. En este trabajo, en particular, el sistema de medición se aplica al choque de discos muñidos de un mecanismo de interacción elástica; obteniéndose resultados acordes con lo esperado con un error del orden 10%, en promedio.
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    Sistema de seguimiento de objetivos usando múltiples cámaras y estimación Bayesiana
    (IEEE, 2015-10) González Dondo, Diego; Redolfi, Javier; Griffa, Martín; Steiner, Guillermo; Canali, Luis
    In recent years, the increase in amount of camera networks available has led to the rise up of new techniques and applications of signal processing. In this work, an implementation of image sensor network, cameras, for mobile target tracking is shown. More specifically, it is performed an application of particle filter in a distributed way, based on leader agents for state estimation. Finally, simulations are presented, as well as a real experiment made with a camera network to track a mobile platform.
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    Target tracking system using multiple cameras and bayesian estimation
    (IEEE LATIN AMERICA TRANSACTIONS, 2016) González Dondo, Diego; Redolfi, Javier; Griffa, M.; Steiner, Guillermo; Canali, Luis Rafael
    In recent years, the increase in amount of camera networks available has led to the rise up of new techniques and applications of signal processing. In this work, an implementation of image sensor network, cameras, for mobile target tracking is shown. More specifically, it is performed an application of particle filter in a distributed way, based on leader agents for state estimation. Finally, simulations are presented, as well as a real experiment made with a camera network to track a mobile platform.
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    Target Tracking System Using Multiple Cameras and Bayesian Estimation
    (2016-08-29) Redolfi, Javier; González Dondo, Diego; Griffa, Martín; Steiner, Guillermo; Canali, Luis
    In recent years, the increase in amount of camera networks available has led to the rise up of new techniques and applications of signal processing. In this work, an implementation of image sensor network, cameras, for mobile target tracking is shown. More specifically, it is performed an application of particle filter in a distributed way, based on leader agents for state estimation. Finally, simulations are presented, as well as a real experiment made with a camera network to track a mobile platform.