Now showing items 1-16 of 16

  • A Highest order hypothesis compatibility test for monocular SLAM 

    Guerra Paradas, Edmundo; Munguía Alcalá, Rodrigo Francisco; Bolea Monte, Yolanda; Grau Saldes, Antoni (2013-08)
    Article
    Open Access
    Simultaneous Location and Mapping (SLAM) is a key problem to solve in order to build truly autonomous mobile robots. SLAM with a unique camera, or monocular SLAM, is probably one of the most complex SLAM variants, based ...
  • A practical method for implementing an attitude and heading reference system 

    Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (2014-04-15)
    Article
    Open Access
    This paper describes a practical and reliable algorithm for implementing an Attitude and Heading Reference System (AHRS). This kind of system is essential for real time vehicle navigation, guidance and control applications. ...
  • A robust approach for a filter-based monocular simultaneous localization and mapping (SLAM) system 

    Munguía Alcalá, Rodrigo Francisco; Castillo Toledo, Bernardino; Grau Saldes, Antoni (2013-07-03)
    Article
    Open Access
    Simultaneous Localization and Mapping (SLAM) is an important problem to solve in robotics theory in order to build truly autonomous mobile robots. This work presents a novel method for implementing a SLAM system based on ...
  • An attitude and heading reference system (AHRS) based in a dual filter 

    Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (IEEE Press. Institute of Electrical and Electronics Engineers, 2011)
    Conference lecture
    Restricted access - publisher's policy
    This paper describes the design, analysis, and experimental results of an Attitude and Heading System based on a Dual Kalman Filtering technique. The presented scheme is suitable for implementation using low cost sensors. ...
  • Attitude and heading system based on EKF total state configuration 

    Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (IEEE Industrial Electronics Society, 2011)
    Conference report
    Restricted access - publisher's policy
    This paper describes the design, analysis, and experimental results of an Attitude and Heading System based on total state (direct) Extended Kalman Filtering technique. The presented scheme is suitable for implementation ...
  • Batch gating for data association in monocular SLAM 

    Guerra Paradas, Edmundo; Munguía Alcalá, Rodrigo Francisco; Bolea Monte, Yolanda; Grau Saldes, Antoni (Trans Tech Publications, 2013-05-27)
    Article
    Restricted access - publisher's policy
    This work describes the development and implementation of a single-camera SLAM system, introducing a novel data validation algorithm. A 6-DOF monocular SLAM method developed is based on the Delayed Inverse-Depth (DI-D) ...
  • Bearing-only slam methods 

    Munguía Alcalá, Rodrigo Francisco (Universitat Politècnica de Catalunya, 2009-10-19)
    Doctoral thesis
  • Closing loops with a virtual sensor based on monocular SLAM 

    Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (2009-08)
    Article
    Open Access
    Monocular simultaneous localization and mapping(SLAM) techniques implicitly estimate camera ego-motion while incrementally building a map of the environment. In monocular SLAM, when the number of features in the system ...
  • Concurrent initialization for Bearing-Only SLAM 

    Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (2010-03-01)
    Article
    Open Access
    Simultaneous Localization and Mapping (SLAM) is perhaps the most fundamental problem to solve in robotics in order to build truly autonomous mobile robots. The sensors have a large impact on the algorithm used for SLAM. ...
  • Delayed inverse depth monocular SLAM 

    Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (PERGAMON PRESS. IFAC SERIES., 2008)
    Conference lecture
    Open Access
    The 6-DOF monocular camera case possibly represents the harder variant in the context of simultaneous localization and mapping problem. In the last years, several advances have been appeared in this area; however the ...
  • FIDD bearing-only SLAM 

    Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (IEEE Press. Institute of Electrical and Electronics Engineers, 2010)
    Conference report
    Open Access
    Simultaneous Localization and Mapping (SLAM) is perhaps the most fundamental problem to solve in robotics in order to build truly autonomous mobile robots. The sensors have a large impact on the algorithm used for SLAM. ...
  • Full autonomous navigation for an aerial robot using behavior-based control motion and SLAM 

    Gómez Anaya, David; Munguía Alcalá, Rodrigo Francisco; Guerra Paradas, Edmundo; Grau Saldes, Antoni (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Restricted access - publisher's policy
    This work presents a complete navigation architecture for an autonomous aerial robot. The proposed scheme consist of: i) a low-level controller for establishing the attitude and position of the vehicle, ii) a Simultaneous ...
  • Monocular SLAM for visual odometry: a full approach to the delayed inverse-depth feature initialization method 

    Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (2012-09)
    Article
    Open Access
    This paper describes in a detailed manner a method to implement a simultaneous localization and mapping SLAM system based on monocular vision for applications of visual odometry, appearance-based sensing, and emulation ...
  • New approach on bearing-only SLAM for indoor environments 

    Guerra Paradas, Edmundo; Bolea Monte, Yolanda; Grau Saldes, Antoni; Munguía Alcalá, Rodrigo Francisco (2011)
    Conference lecture
    Restricted access - publisher's policy
    In this paper a novel Simultaneous Localization and Mapping (SLAM) is presented. Using the sound as the input signal, instead of the classical vision or laser systems, leads to a SSLAM (sound SLAM) with a new features, ...
  • SLAM con mediciones angulares: método por triangulación estocástica 

    Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (2013-04)
    Article
    Open Access
    El SLAM (simultaneous localization and mapping) es una técnica en la cual un robot o vehículo autónomo opera en un entorno a priori desconocido, utilizando únicamente sus sensores de abordo, mientras construye un mapa de ...
  • Validation of Data Association for Monocular SLAM 

    Guerra Paradas, Edmundo; Munguía Alcalá, Rodrigo Francisco; Bolea Monte, Yolanda; Grau Saldes, Antoni (2013-05)
    Article
    Open Access
    SimultaneousMapping and Localization (SLAM) is amultidisciplinary problem with ramifications within several fields. One of the key aspects for its popularity and success is the data fusion produced by SLAM techniques, ...