Now showing items 1-13 of 13

  • 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)
    Conference report
    Open Access
    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 ...
  • Active pose SLAM 

    Valencia Carreño, Rafael; Valls Miró, Jaime; Dissanayake, Gamini; Andrade-Cetto, Juan (2012)
    Conference report
    Open Access
    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 ...
  • 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)
    Conference report
    Open Access
  • 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)
    Conference report
    Open Access
    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 ...
  • Exploration in information distribution maps 

    Jadidi, Maani Ghaffari; Valls Miró, Jaime; Valencia Carreño, Rafael; Andrade-Cetto, Juan; Dissanayake, Gamini (2013)
    Conference report
    Open Access
    In this paper, a novel solution for autonomous robotic exploration is proposed. We model the distribution of information in an unknown environment as an unsteady diffusion process, which can be an appropriate mathematical ...
  • Exploration on continuous Gaussian process frontier maps 

    Jadidi, Maani Ghaffari; Valls Miró, Jaime; Valencia Carreño, Rafael; Andrade-Cetto, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Open Access
    An information-driven autonomous robotic explo- ration method on a continuous representation of unknown envi- ronments is proposed in this paper. The approach conveniently handles sparse sensor measurements to build a ...
  • Exploration using an information-based reaction-diffusion process 

    Jadidi, Maani Ghaffari; Valls Miró, Jaime; Valencia Carreño, Rafael; Andrade-Cetto, Juan; Dissanayake, Gamini (2013)
    Conference report
    Open Access
    In this paper, a novel solution for autonomous robotic exploration is proposed. We model the distribution of information in an unknown environment as an unsteady diffusion process, which can be an appropriate mathematical ...
  • Localization in highly dynamic environments using dual-timescale NDT-MCL 

    Valencia Carreño, Rafael; Saarinen, Jari; Andreasson, Henrik; Vallvé Navarro, Joan; Andrade-Cetto, Juan; Lilienthal, Achim (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Open Access
    Industrial environments are rarely static and often their configuration is continuously changing due to the material transfer flow. This is a major challenge for infrastructure free localization systems. In this paper we ...
  • Mapping, planning and exploration with Pose SLAM 

    Valencia Carreño, Rafael (Universitat Politècnica de Catalunya, 2013-04-19)
    Doctoral thesis
    Open Access
  • Path planning in belief space with Pose SLAM 

    Valencia Carreño, Rafael; Andrade-Cetto, Juan; Porta Pleite, Josep Maria (2011)
    Conference report
    Restricted access - publisher's policy
    The probabilistic belief networks that result from standard feature-based simultaneous localization and map building cannot be directly used to plan trajectories. The reason is that they produce a sparse graph of landmark ...
  • Path planning with pose SLAM 

    Valencia Carreño, Rafael; Andrade-Cetto, Juan; Porta Pleite, Josep Maria (2010)
    External research report
    Open Access
    The probabilistic belief networks that result from standard feature-based simultaneous localization and map building (SLAM) approaches cannot be directly used to plan trajectories. The reason is that they produce a sparse ...
  • Planning reliable paths with Pose SLAM 

    Valencia Carreño, Rafael; Morta Garriga, Martí; Andrade-Cetto, Juan; Porta Pleite, Josep Maria (2013)
    Article
    Open Access
    The maps that are built by standard feature-based simultaneous localization and mapping (SLAM) methods cannot be directly used to compute paths for navigation, unless enriched with obstacle or traversability information, ...
  • Vision-based loop closing for delayed state robot mapping 

    Ila, Viorela Simona; Andrade-Cetto, Juan; Valencia Carreño, Rafael; Sanfeliu Cortés, Alberto (IEEE, 2007)
    Conference report
    Open Access
    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 ...