Browsing by Author "Ribeiro, Francisco M."
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- Deep convolutional neural networks applied to hand keypoints estimationPublication . Santos, Bruno M.; Pais, Pedro; Ribeiro, Francisco M.; Lima, José; Goncalves, Gil; Pinto, Vítor H.Accurate estimation of hand shape and position is an important task in various applications, such as human-computer interaction, human-robot interaction, and virtual and augmented reality. In this paper, it is proposed a method to estimate the hand keypoints from single and colored images utilizing the pre-trained deep convolutional neural networks VGG-16 and VGG-19. The method is evaluated on the FreiHAND dataset, and the performance of the two neural networks is compared. The best results were achieved by the VGG-19, with average estimation errors of 7.40 pixels and 11.36 millimeters for the best cases of two-dimensional and three-dimensional hand keypoints estimation, respectively.
- FLOOR - Forklift laser omnidirectional robotPublication . Pinto, Vítor H.; Ribeiro, Francisco M.; Brito, Thadeu; Pereira, Ana I.; Lima, José; Costa, Paulo Gomes daThe robot presented in this paper was developed with the main focus on participating in robotic competitions. Therefore, the subsystems here presented were developed taking into account performance criteria instead of simplicity. Nonetheless, this paper also presents background knowledge in some basic concepts regarding robot localization, navigation, color identification and control, all of which are key for a more competitive robot.
- Modeling and realistic simulation of a dexterous robotic hand: SVH hand use-casePublication . Ribeiro, Francisco M.; Correia, Tiago; Lima, José; Goncalves, Gil; Pinto, Vítor H.Recent developments in dexterous robotic manipulation technologies allowed for the design of very compact, yet capable, multi-fingered robotic hands. These can be designed to emulate the human touch and feel, reducing the aforementioned need for human expertise in highly detailed tasks. The presented work focused on the application of two simulation platforms Gazebo and MuJoCo - to a use-case of a Schunk Five Finger Robotic Hand, coupled to the UR5 collaborative manipulator. This allowed to assess the relative appropriateness of each of these platforms.