Ara es mostren els items 1-20 de 64

  • 3D mapping for urban service robots 

    Valencia Carreño, Rafael; Teniente López, Ernest; Trulls Fortuny, Eduard; Andrade-Cetto, Juan (IEEE Press. Institute of Electrical and Electronics Engineers, 2009-10-11)
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    We present an approach to the problem of 3D map building in urban settings for service robots, using threedimensional laser range scans as the main data input. Our system is based on the probabilistic alignment of 3D point ...
  • A wire-based active tracker 

    Andrade-Cetto, Juan; Thomas, Federico (IEEE, 2008)
    Article
    Accés obert
    Wire-based tracking devices are an affordable alternative to costly tracking devices. They consist of a fixed base and a platform, attached to the moving object, connected by six wires whose tension is maintained along the ...
  • Action selection for robotic manipulation of deformable objects 

    Cuén Rochín, Saúl; Andrade-Cetto, Juan; Torras, Carme (ESF-JSPS, 2008)
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    This paper deals with the manipulation of planar deformable objects for typical service robot applications. Specifically, we present a system that straightens pieces of cloth from any arbitrary initial wrinkle condition ...
  • Action selection for single-camera SLAM 

    Vidal Calleja, Teresa; Sanfeliu Cortés, Alberto; Andrade-Cetto, Juan (2010)
    Article
    Accés obert
    A method for evaluating, at video rate, the quality of actions for a single camera while mapping unknown indoor environments is presented. The strategy maximizes mutual information between measurements and states to help ...
  • Active pose SLAM 

    Valencia Carreño, Rafael; Valls Miró, Jaime; Dissanayake, Gamini; Andrade-Cetto, Juan (2012)
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    We present an active exploration strategy that complements Pose SLAM [1] and optimal navigation in Pose SLAM [2]. The method evaluates the utility of exploratory and place revisiting sequences and chooses the one that ...
  • Active pose SLAM with RRT* 

    Vallvé Navarro, Joan; Andrade-Cetto, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2015)
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    We propose a novel method for robotic exploration that evaluates paths that minimize both the joint path and map entropy per meter traveled. The method uses Pose SLAM to update the path estimate, and grows an RRT* tree to ...
  • Amortized constant time estimation in Pose SLAM and hierarchical SLAM using a mixed Kalman-information filter 

    Ila, Viorela Simona; Porta Pleite, Josep Maria; Andrade-Cetto, Juan (2011)
    Article
    Accés obert
    The computational bottleneck in all information-based algorithms for simultaneous localization and mapping (SLAM) is the recovery of the state mean and covariance. The mean is needed to evaluate model Jacobians and the ...
  • Amortized constant time state estimation in SLAM using a mixed Kalman-information filter 

    Ila, Viorela Simona; Porta Pleite, Josep Maria; Andrade-Cetto, Juan (2009)
    Comunicació de congrés
    Accés obert
    The computational bottleneck in all informationbased algorithms for SLAM is the recovery of the state mean and covariance. The mean is needed to evaluate model Jacobians and the covariance is needed to generate data ...
  • Calibrating an outdoor distributed camera network using laser range finder data 

    Ortega Jiménez, Agustín Alberto; Dias, Bruno; Teniente Avilés, Ernesto; Bernardino Malheiro, Alexandre José; Gaspar, José; Andrade-Cetto, Juan (IEEE Press. Institute of Electrical and Electronics Engineers, 2009-10-11)
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    Outdoor camera networks are becoming ubiquitous in critical urban areas of large cities around the world. Although current applications of camera networks are mostly limited to video surveillance, recent research projects ...
  • Calibration of an outdoor distributed camera network with a 3D point cloud 

    Ortega, Agustin; Silva, Manuel; Teniente Avilés, Ernesto Homar; Ferreira, Ricardo; Bernardino Bernardino Malheiro, Alexandre José; Gaspar, José; Andrade-Cetto, Juan (2014)
    Article
    Accés obert
    Outdoor camera networks are becoming ubiquitous in critical urban areas of the largest cities around the world. Although current applications of camera networks are mostly tailored to video surveillance, recent research ...
  • Combination of distributed camera network and laser-based 3D mapping for urban service robots 

    Andrade-Cetto, Juan; Ortega Jiménez, Agustín Alberto; Teniente Avilés, Ernesto; Trulls Fortuny, Eduard; Valencia Carreño, Rafael; Sanfeliu Cortés, Alberto (2009)
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  • Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas 

    Spaan, Matthijs T.J.; Sequeira, Joao; Ollero, A.; Moreno, Plinio; Mirats Tur, Josep Maria; Merino, Luis; Sanfeliu Cortés, Alberto; Andrade-Cetto, Juan; Barbosa, Marco; Bowden, Richard; Capitan, Jesus; Corominas Murtra, Andreu; Gilbert, Andrew; Illingworth, John (2010-03)
    Article
    Accés obert
    In this article we explain the architecture for the environment and sensors that has been built for the European project URUS (Ubiquitous Networking Robotics in Urban Sites), a project whose objective is to develop an ...
  • Dense entropy decrease estimation for mobile robot exploration 

    Vallvé Navarro, Joan; Andrade-Cetto, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2014)
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    We propose a method for the computation of entropy decrease in C-space. These estimates are then used to evaluate candidate exploratory trajectories in the context of autonomous mobile robot mapping. The method evaluates ...
  • Dense outdoor 3D mapping and navigation with Pose SLAM 

    Teniente Avilés, Ernesto; Valencia Carreño, Rafael; Andrade-Cetto, Juan (Escuela Superior de Ingenieros de la Universidad de Sevilla, 2011)
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    Pose SLAM is the variant of SLAM where only the robot trajectory is estimated and in which landmarks are solely used to compute relative constraints between robot poses. In previous work, we have developed efficient methods ...
  • Detection performance evaluation of boosted random Ferns 

    Villamizar Vergel, Michael Alejandro; Moreno-Noguer, Francesc; Andrade-Cetto, Juan; Sanfeliu Cortés, Alberto (Springer, 2011)
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    We present an experimental evaluation of Boosted Random Ferns in terms of the detection performance and the training data. We show that adding an iterative bootstrapping phase during the learning of the object classifier, ...
  • Dynamic object detection fusing LIDAR data and images 

    Ortega Jimenez, Agustin Alberto; Andrade-Cetto, Juan (2014)
    Comunicació de congrés
    Accés obert
    We present a method to segment dynamic objects on point clouds using images and 3D laser data. Per-pixel background classes are adapted online as Gaussian Mixtures independently for each sensor. The learned classes are ...
  • ECMR’13 Special Issue 

    Andrade-Cetto, Juan; Frese, Udo; Moritz, Tenorth (2015)
    Article
    Accés obert
    This special issue contains extended versions of the best papers from the 6th European Conference on Mobile Robots (ECMR). ECMR is a biennial European forum, internationally open, that allows roboticists throughout Europe ...
  • Efficient 3D object detection using multiple pose-specific classifiers 

    Villamizar Vergel, Michael Alejandro; Grabner, Helmut; Andrade-Cetto, Juan; Sanfeliu Cortés, Alberto; Van Gool, Luc; Moreno-Noguer, Francesc (2011)
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    We propose an efficient method for object localization and 3D pose estimation. A two-step approach is used. In the first step, a pose estimator is evaluated in the input images in order to estimate potential object ...
  • Efficient rotation invariant object detection using boosted random Ferns 

    Villamizar Vergel, Michael Alejandro; Moreno-Noguer, Francesc; Andrade-Cetto, Juan; Sanfeliu Cortés, Alberto (2010)
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    We present a new approach for building an efficient and robust classifier for the two class problem, that localizes objects that may appear in the image under different orientations. In contrast to other works that address ...
  • Efficient vision-based loop closing techniques for delayed state robot mapping 

    Ila, Viorela Simona; Andrade-Cetto, Juan; Sanfeliu Cortés, Alberto (ESF-JSPS, 2008)
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    This paper shows results on outdoor vision-based loop closing for Simultaneous Localization and Mapping. Our experiments show that for loops of over 50m, the pose estimates maintained with a Delayed-State Extended Information ...