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dc.contributor.advisorGarcía Alonso Montoya, Alejandro
dc.contributor.advisorSánchez Tapia, Jairo Roberto
dc.contributor.authorBarrena Orueechebarria, Nagore
dc.date.accessioned2019-04-17T12:43:31Z
dc.date.available2019-04-17T12:43:31Z
dc.date.issued2019-02-22
dc.date.submitted2019-02-22
dc.identifier.urihttp://hdl.handle.net/10810/32551
dc.description114 p.es_ES
dc.description.abstractThis thesis starts with a proposal for a collaborative global visual localization system. Then, it centres in a specific visual localisation problem: perspective distortion in template matching.The thesis enriches 3D point cloud models with a surface normal associated with each 3D point. These normals are computed using a minimization algorithm.Based in this new model, the thesis proposes an algorithm to increase the accuracy of visual localisation. The algorithm improves for template matching processes using surface normals.The hypothesis, `Given a 3D point cloud, surface orientation of the 3D points in a template matching process increases the number of inliers points found by the localisation system, that is, perspective compensation.' is objectively proved using a ground truth model.The ground truth is achieved through the design of a framework which using computer vision and computer graphics techniques carries out experiments without the noise of a real system, and prove in an objective way the hypothesis.es_ES
dc.language.isoenges_ES
dc.rightsinfo:eu-repo/semantics/openAccesses_ES
dc.rights.urihttp://creativecommons.org/licenses/by/3.0/es/*
dc.subjectartificial intelligencees_ES
dc.subjectinformaticses_ES
dc.subjectsimulationes_ES
dc.subjectinteligencia artificiales_ES
dc.subjectinformáticaes_ES
dc.subjectsimulaciónes_ES
dc.titleCamera perspective distortion in model-based visual localisation.es_ES
dc.typeinfo:eu-repo/semantics/doctoralThesises_ES
dc.rights.holderAtribución 3.0 España*
dc.rights.holder(cc)2019 NAGORE BARRENA ORUEECHEVARRIA (cc by 4.0)
dc.identifier.studentID348359es_ES
dc.identifier.projectID17839es_ES
dc.departamentoesCiencia de la computación e inteligencia artificiales_ES
dc.departamentoeuKonputazio zientziak eta adimen artifizialaes_ES


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Atribución 3.0 España
Except where otherwise noted, this item's license is described as Atribución 3.0 España