{"id":638,"date":"2026-11-04T20:42:10","date_gmt":"2026-11-05T01:42:10","guid":{"rendered":"https:\/\/academia.utp.edu.co\/huellas-digitales\/?page_id=638"},"modified":"2026-11-06T15:12:00","modified_gmt":"2026-11-06T20:12:00","slug":"elias-escobar-pereira","status":"publish","type":"page","link":"https:\/\/academia.utp.edu.co\/huellas-digitales\/trabajos-de-grado\/elias-escobar-pereira\/","title":{"rendered":"Elias Escobar Pereira"},"content":{"rendered":"\n
\n\n \n
\n \n \u2190<\/span> Volver al Cat\u00e1logo de Trabajos de Grado\n <\/a>\n \n GIGSEEA \u2022 REPOSITORIO INVESTIGATIVO\n <\/span>\n <\/div>\n\n \n
\n\n \n
\n \n
<\/div>\n
<\/div>\n
<\/div>\n
<\/div>\n
<\/div>\n
<\/div>\n\n \n
<\/div>\n \n \n
<\/div>\n\n \n
<\/div>\n
<\/div>\n
<\/div>\n <\/div>\n\n \n
\n\n \n
\n \n
\n \n
\n \"Elias\n <\/div>\n\n \n \ud83c\udf93\n <\/span>\n <\/div>\n\n
\n \n AUTOR PRINCIPAL\n <\/span>\n <\/div>\n\n <\/div>\n\n \n
\n \n
\n \n TRABAJO DE GRADO DESTACADO\n <\/span>\n \n Ingenier\u00eda El\u00e9ctrica\n <\/span>\n <\/div>\n\n

\n Metodolog\u00eda para el etiquetado de base de datos de un manipulador serial de seis grados de libertad mediante PyBullet<\/span>\n <\/h1>\n\n
\n
<\/div>\n\n
\n \n AUTOR\n <\/span>\n \n Elias Escobar Pereira\n <\/span>\n <\/div>\n
\n \n DIRECTOR\n <\/span>\n \n MsC. Kevin David Ortega Qui\u00f1ones\n <\/span>\n <\/div>\n
\n \n PROGRAMA \/ GRUPO\n <\/span>\n \n Ingenier\u00eda El\u00e9ctrica \u2014 Grupo de Investigaci\u00f3n GSEEA (UTP)\n <\/span>\n <\/div>\n <\/div>\n\n <\/div>\n\n <\/div>\n <\/header>\n\n \n
\n \n
\n
\n <\/span>\n

\n Ficha T\u00e9cnica\n <\/h2>\n <\/div>\n \n PARADIGMA Y DESARROLLO\n <\/span>\n <\/div>\n\n
\n\n
\n \u26a0\ufe0f<\/span>\n

\n Desaf\u00edo t\u00e9cnico\n <\/h3>\n

\n La recolecci\u00f3n manual de datos f\u00edsicos etiquetados para entrenar modelos de Deep Learning<\/em> en rob\u00f3tica es costosa, imprecisa y propensa a errores humanos y desincronizaci\u00f3n.\n <\/p>\n <\/div>\n\n

\n \u2699\ufe0f<\/span>\n

\n Soluci\u00f3n desarrollada\n <\/h3>\n

\n Se dise\u00f1\u00f3 e implement\u00f3 un entorno de simulaci\u00f3n virtual en PyBullet enfocado en el manipulador de arquitectura abierta PAROL6 (6 GDL).\n <\/p>\n <\/div>\n\n

\n \ud83d\udc41\ufe0f<\/span>\n

\n Sistema de visi\u00f3n sint\u00e9tica\n <\/h3>\n

\n Integraci\u00f3n de un sistema multivista con tres estaciones de captura (dos laterales y una cenital) para eliminar puntos ciegos y garantizar redundancia de datos.\n <\/p>\n <\/div>\n\n

\n \ud83d\udcca<\/span>\n

\n Resultados\n <\/h3>\n

\n Generaci\u00f3n automatizada de un dataset m\u00e1ster de 10.000 muestras con correspondencia determin\u00edstica entre las im\u00e1genes RGB y las etiquetas de estado cinem\u00e1tico (pose 7D en cuaterniones y variables articulares).\n <\/p>\n <\/div>\n\n <\/div>\n <\/section>\n\n \n

\n \n
\n <\/span>\n

\n Perfil del Autor\n <\/h2>\n <\/div>\n\n
\n

\n Elias Escobar Pereira\n <\/h3>\n \n
\n

\n Rol:<\/strong> Investigador principal y autor del trabajo de grado.\n <\/p>\n

\n Contribuci\u00f3n clave:<\/strong> Desarrollo del pipeline<\/em> de generaci\u00f3n masiva en Python, sincronizaci\u00f3n del modelo \u00f3ptico de Zhang con OpenGL y validaci\u00f3n cinem\u00e1tica del gemelo digital.\n <\/p>\n <\/div>\n <\/div>\n\n <\/section>\n\n \n

\n \n
\n <\/span>\n

\n Recursos y Documentaci\u00f3n\n <\/h2>\n <\/div>\n\n
\n \n
\n
\n \ud83d\udcc1<\/span>\n

\n Repositorio Institucional UTP\n <\/h3>\n <\/div>\n\n

\n Trabajo de Grado:<\/strong> Metodolog\u00eda para el etiquetado de bases de datos de un manipulador serial de seis grados de libertad mediante Pybullet<\/em>\n <\/p>\n\n

\n \ud83d\udd17<\/span>\n Handle ID:<\/strong> 11059\/16924<\/span>\n <\/p>\n <\/div>\n\n

\n \n \ud83d\udcc4<\/span>\n Consultar Documento Completo en Repositorio<\/span>\n <\/a>\n <\/div>\n\n <\/div>\n\n <\/section>\n\n<\/div>\n","protected":false},"excerpt":{"rendered":"

\u2190 Volver al Cat\u00e1logo de Trabajos de Grado GIGSEEA \u2022 REPOSITORIO INVESTIGATIVO \ud83c\udf93 AUTOR PRINCIPAL TRABAJO DE GRADO DESTACADO Ingenier\u00eda […]<\/p>\n","protected":false},"author":1983,"featured_media":0,"parent":379,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"site-sidebar-layout":"no-sidebar","site-content-layout":"","ast-site-content-layout":"normal-width-container","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"disabled","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","ast-disable-related-posts":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"footnotes":""},"class_list":["post-638","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/academia.utp.edu.co\/huellas-digitales\/wp-json\/wp\/v2\/pages\/638","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/academia.utp.edu.co\/huellas-digitales\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/academia.utp.edu.co\/huellas-digitales\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/academia.utp.edu.co\/huellas-digitales\/wp-json\/wp\/v2\/users\/1983"}],"replies":[{"embeddable":true,"href":"https:\/\/academia.utp.edu.co\/huellas-digitales\/wp-json\/wp\/v2\/comments?post=638"}],"version-history":[{"count":6,"href":"https:\/\/academia.utp.edu.co\/huellas-digitales\/wp-json\/wp\/v2\/pages\/638\/revisions"}],"predecessor-version":[{"id":694,"href":"https:\/\/academia.utp.edu.co\/huellas-digitales\/wp-json\/wp\/v2\/pages\/638\/revisions\/694"}],"up":[{"embeddable":true,"href":"https:\/\/academia.utp.edu.co\/huellas-digitales\/wp-json\/wp\/v2\/pages\/379"}],"wp:attachment":[{"href":"https:\/\/academia.utp.edu.co\/huellas-digitales\/wp-json\/wp\/v2\/media?parent=638"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}