Exploració per autor "Andrade-Cetto, Juan"
Ara es mostren els items 39-58 de 97
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Factor descent optimization for sparsification in graph SLAM
(IEEE Press, 2017)
Text en actes de congrés
Accés obertIn the context of graph-based simultaneous localization and mapping, node pruning consists in removing a subset of nodes from the graph, while keeping the graph’s information content as close as possible to the original. ... -
FaMSA: fast multi-scan alignment with partially known correspondences
(2011)
Text en actes de congrés
Accés obertThis paper presents FaMSA, an efficient method to boost 3D scan registration from partially known correspondence sets. This situation is typical at loop closure in large laser-based mapping sessions. In such cases, scan ... -
Galileo and EGNOS as an asset for UTM safety and security
(2019)
Text en actes de congrés
Accés obertGAUSS (Galileo-EGNOS as an Asset for UTM Safety and Security) is a H2020 project1 that aims at designing and developing high performance positioning systems for drones within the U-Space framework focusing on UAS (Unmanned ... -
Graph SLAM sparsification with populated topologies using factor descent optimization
(Institute of Electrical and Electronics Engineers (IEEE), 2018)
Article
Accés obertCurrent solutions to the simultaneous localization and mapping (SLAM) problem approach it as the optimization of a graph of geometric constraints. Scalability is achieved by reducing the size of the graph, usually in two ... -
Graph-based segmentation of range data with applications to 3D urban mapping
(2010)
Text en actes de congrés
Accés obertThis paper presents an efficient graph-based algorithm for the segmentation of planar regions out of 3D range maps of urban areas. Segmentation of planar surfaces in urban scenarios is challenging because the data acquired ... -
Guiding and localising in real-time a mobile robot with a monocular camera in non-flat terrains
(s. n., 2007)
Text en actes de congrés
Accés obertIn this paper we present a real-time active motion strategy for a mobile robot navigating in a non-flat terrain and its 3D constrained motion model. The aim is to control the robot with measurements from only one camera ... -
Guiding and localising in real-time a mobile robot with a monocular camera in non-flat terrains
(IFAC, 2007)
Text en actes de congrés
Accés obertIn this paper we present a real-time active motion strategy for a mobile robot navigating in a non-¿at terrain and its 3D constrained motion model. The aim is to control the robot with measurements from only one camera ... -
Hierarchical task control for aerial inspection
(2014)
Text en actes de congrés
Accés obertThis paper presents a task oriented control strategy for aerial vehicles equipped with a robotic arm and a camera attached to its end-effector. With this setting the camera can reach a new set of orientations previously ... -
High-frequency MAV state estimation using low-cost inertial and optical flow measurement units
(Institute of Electrical and Electronics Engineers (IEEE), 2015)
Text en actes de congrés
Accés obertThis paper develops a new method for 3D, high rate vehicle state estimation, specially designed for free-flying Micro Aerial Vehicles (MAVs). We fuse observations from inertial and optical flow low-cost measurement units, ... -
High-speed event camera tracking
(2020)
Text en actes de congrés
Accés obertEvent cameras are bioinspired sensors with reaction times in the order of microseconds. This property makes them appealing for use in highly-dynamic computer vision applications. In this work, we explore the limits of this ... -
HRA*: hybrid randomized path planning for complex 3D environments
(Institute of Electrical and Electronics Engineers (IEEE), 2013)
Text en actes de congrés
Accés obertWe propose HRA*, a new randomized path planner for complex 3D environments. The method is a modified A* algorithm that uses a hybrid node expansion technique that combines a random exploration of the action space meeting ... -
Humanoid robotics and human-centered initiatives at IRI
(Secretariado de Publicaciones e Intercambio científico. Universidad de Valladolid, 2009-09)
Comunicació de congrés
Accés obertThe interest of the robotics community on humanoid robots is growing, specially in perception, scene understanding and manipulation in humancentered environments, as well as in human-robot interaction. Moreover, humanoid ... -
Hybrid visual servoing with hierarchical task composition for aerial manipulation
(Institute of Electrical and Electronics Engineers (IEEE), 2016)
Article
Accés obertIn this paper a hybrid visual servoing with a hierarchical task-composition control framework is described for aerial manipulation, i.e. for the control of an aerial vehicle endowed with a robot arm. The proposed approach ... -
Information-based compact Pose SLAM
(2010)
Article
Accés obertPose SLAMis the variant of simultaneous localization and map building (SLAM) is the variant of SLAM, in which only the robot trajectory is estimated and where landmarks are only used to produce relative constraints between ... -
Joint on-manifold self-calibration of odometry model and sensor extrinsics using pre-integration
(2019)
Text en actes de congrés
Accés obertThis paper describes a self-calibration procedure that jointly estimates the extrinsic parameters of an exteroceptive sensor able to observe ego-motion, and the intrinsic parameters of an odometry motion model, consisting ... -
LETHA: learning from high quality inputs for 3D pose estimation in low quality images
(Institute of Electrical and Electronics Engineers (IEEE), 2014)
Text en actes de congrés
Accés obertWe introduce LETHA (Learning on Easy data, Test on Hard), a new learning paradigm consisting of building strong priors from high quality training data, and combining them with discriminative machine learning to deal with ... -
Local boosted features for pedestrian detection
(Springer Verlag, 2009-06-12)
Capítol de llibre
Accés obertThe present paper addresses pedestrian detection using local boosted features that are learned from a small set of training images. Our contribution is to use two boosting steps. The first one learns discriminant local ... -
Localization in highly dynamic environments using dual-timescale NDT-MCL
(Institute of Electrical and Electronics Engineers (IEEE), 2014)
Text en actes de congrés
Accés obertIndustrial 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 ... -
Low resolution lidar-based multi object tracking for driving applications
(Springer, 2017)
Text en actes de congrés
Accés obertVehicle detection and tracking in real scenarios are key com- ponents to develop assisted and autonomous driving systems. Lidar sen- sors are specially suitable for this task, as they bring robustness to harsh weather ... -
Mobile robot exploration with potential information fields
(2013)
Text en actes de congrés
Accés obertWe present a mobile robot exploration strategy that computes trajectories that minimize both path and map entropies. The method evaluates joint entropy reduction and computes a potential ¿eld in robot con¿guration space ...
