Now showing items 1-8 of 8

  • 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 ...
  • 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 ...
  • Mapping, planning and exploration with Pose SLAM 

    Valencia Carreño, Rafael (Universitat Politècnica de Catalunya, 2013-04-19)
    Doctoral thesis
  • 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 ...
  • 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 ...