ROBOT DIBUJANTE CONTROLADO MEDIANTE EL SENSOR KINECT

En este artículo se presenta la implementación de un brazo de 3 DOF planar  que es controlado mediante procesamiento digital de imágenes, el sensor utilizado consta de una cámara RGB y un emisor de infrarrojos que proyecta un patrón de puntos de luz con sus coordenadas x, y, pasándolas a un esquema de procesamiento y convirtiendo los datos en una serie de rotaciones en los servomotores del robot. Se describen las generalidades y resultados obtenidos dentro de la investigación realizada

On the sustained tracking of human motion

In this paper, we propose an algorithm for sustained tracking of humans, where we combine frame-to-frame articulated motion estimation with a per-frame body detection algorithm. The proposed approach can automatically recover from tracking error and drift. The frame-to-frame motion estimation algorithm replaces traditional dynamic models within a filtering framework. Stable and accurate per-frame motion is estimated via an image-gradient based algorithm that solves a linear constrained least squares system. The per-frame detector learns appearance of different body parts and ‘sketches ’ expected gradient maps to detect discriminant pose configurations in images. The resulting online algorithm is computationally efficient and has been widely tested on a large dataset of sequences of drivers in vehicles. It shows stability and sustained accuracy over thousands of frames. 1