System to detect and localise Garbage on the floor

UNIVERSIDAD DE VALLADOLID ESCUELA DE INGENIERIAS INDUSTRIALES Grado en Ingeniería en Electrónica Industrial y Automática System to detect and localise Garbage on the floor AUTOR: Lázaro Sánchez, Raúl Responsable de Intercambio en la UVa: De la Fuente López, Eusebio Universidad de destino: University College Leuven-Limburg Valladolid, Junio 2019. TFG REALIZADO EN PROGRAMA DE INTERCAMBIO TÍTULO: System to detect and localise garbage on the floor ALUMNO: Lázaro Sánchez, Raúl FECHA: 20/06/2019 CENTRO: University College Leuven-Limburg (UCLL) - ACRO TUTOR: Wim Claes – UCLL Eric Demeester - ACRO David De Schepper - ACRO RESUMEN Colruyt Group, la cadena de supermercados más grande de Bélgica, desea automatizar los procesos de limpieza de sus tiendas. Hoy en día, la limpieza del suelo de los supermercados es un proceso tedioso y se realiza manualmente. El propósito de este trabajo es construir una prueba de concepto de un sistema que detecte y ubique la basura del suelo en el supermercado para poder recogerla. El sistema debe poder montarse en cualquier plataforma móvil autónoma que use ROS. En este trabajo, se ha utilizado el TurtleBot3 como plataforma móvil en la que se ha instalado una cámara RGBD. Para la detección de basura, se han integrado y comparado varios métodos de visión, como operaciones morfológicas, segmentación basada en diferentes espacios de color, comparación de imágenes y la cámara de profundidad. Este proyecto permite demostrar que es posible la automatización de este proceso, así como servir de base para futuros trabajos. PALABRAS CLAVE Localizar, visión, robot, cámara, ROS +FMQrH2/;2K2Mib h?MFb iQ HH i?2 l*GG BM ;2M2`H 7Q` ?QbiBM; K2 /m`BM; i?2b2 KQMi?bX A rQmH/ HbQ HBF2 iQ i?MF iQ i?2 T2QTH2 Q7 *QH`mvi :`QmT rBi? 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