Aplicación de la visión artificial a la manipulación robótica en el contexto de la intervención subacuática

Abstract

This thesis describes an integral framework for visually guided manipulation of objects in underwater scenarios in the archaeology case of use. The proposed framework is used to perform the reconstruction of a 3D point cloud from the robot environment, compute the geometric model of the objects and background of the scene, specify and supervise the grasping through Human-Robot Interaction, and execute the grasping. The different components have been validated in simulation and in increasingly complex real scenarios. Experiments have been performed in the water tank of the Interactive and Robotic Systems Lab, in the pool of the Centro de Investigación en Robótica Submarina with the integration of the vehicle and in seawater at the harbour of Sant Feliu de Guíxols.