Exploració per autor "Andrade-Cetto, Juan"
Ara es mostren els items 58-77 de 97
-
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 ... -
MSClique: Multiple structure discovery through the maximum weighted clique problem
(2016-01-01)
Article
Accés obertWe present a novel approach for feature correspondence and multiple structure discovery in computer vision. In contrast to existing methods, we exploit the fact that point-sets on the same structure usually lie close to ... -
Multi-task closed-loop inverse kinematics stability through semidefinite programming
(2020)
Text en actes de congrés
Accés obertToday’s complex robotic designs comprise in some cases a large number of degrees of freedom, enabling for multi-objective task resolution (e.g., humanoid robots or aerial manipulators). This paper tackles the stability ... -
Nonlinear model predictive control for aerial manipulation
(2017)
Text en actes de congrés
Accés obertThis paper presents a nonlinear model predictive controller to follow desired 3D trajectories with the end effector of an unmanned aerial manipulator (i.e., a multirotor with a serial arm attached). To the knowledge ... -
Object modeling using a ToF camera under an uncertainty reduction approach
(2010)
Text en actes de congrés
Accés obertTime-of-Flight (ToF) cameras deliver 3D images at 25 fps, offering great potential for developing fast object modeling algorithms. Surprisingly, this potential has not been extensively exploited up to now. A reason for ... -
Object recognition
(John Wiley & Sons, 2007)
Capítol de llibre
Accés obertObject recognition entails identifying instances of known objects in sensory data by searching for a match between features in a scene and features on a model. The key elements that make object recognition feasible are the ... -
Observability analysis and optimal sensor placement in stereo radar odometry
(Institute of Electrical and Electronics Engineers (IEEE), 2016)
Text en actes de congrés
Accés obertLocalization is the key perceptual process closing the loop of autonomous navigation, allowing self-driving vehicles to operate in a deliberate way. To ensure robust localization, autonomous vehicles have to implement ... -
Odometry estimation for aerial manipulation
(Springer, 2019)
Capítol de llibre
Accés obertThis chapter explains a fast and low-cost state localization estimation method for small-sized UAVs, that uses an IMU, a smart camera and an infrared time-of-flight range sensor that act as an odometer providing absolute ... -
On the observability of bearing only SLAM
(IEEE, 2007)
Text en actes de congrés
Accés obertIn this paper we present an observability analysis for a mobile robot performing SLAM with a single monocular camera. The aim is to get a better understanding of the well known intuitive behavior of these systems, such as ... -
Outdoor delayed-state visually augmented odometry
(IFAC, 2007)
Text en actes de congrés
Accés obertThis paper presents an efficient approach to outdoor visually augmented odometry. The technique computes relative pose constraints via a robust least squares minimisation of 3D point correspondences, which are in turn ... -
Outdoor delayed-state visually augmented odometry
(s. n., 2007)
Text en actes de congrés
Accés obertThis paper presents an efficient approach to outdoor visually augmented odometry. The technique computes relative pose constraints via a robust least squares minimisation of 3D point correspondences, which are in turn ... -
Path planning in belief space with Pose SLAM
(2011)
Text en actes de congrés
Accés restringit per política de l'editorialThe 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
(2010)
Report de recerca
Accés obertThe 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
(2013)
Article
Accés obertThe 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, ... -
Pose-graph SLAM sparsification using factor descent
(2019-09-01)
Article
Accés obertSince state of the art simultaneous localization and mapping (SLAM) algorithms are not constant time, it is often necessary to reduce the problem size while keeping as much of the original graph’s information content. In ... -
Potential information fields for mobile robot exploration
(2015-07-01)
Article
Accés obertWe present a decision theoretic approach to mobile robot exploration. The method evaluates the reduction of joint path and map entropy and computes a potential information field in robot configuration space using these ... -
Recovering the epipolar direction from two affine views of a planar object
(Academic Press, 2008)
Article
Accés obertThe mainstream approach to estimate epipolar geometry from two views requires matching the projections of at least 4 non-coplanar points in the scene, assuming a full projective camera model. Our work deviates from this ... -
Reduced state representation in delayed-state SLAM
(IEEE Press. Institute of Electrical and Electronics Engineers, 2009-10-11)
Comunicació de congrés
Accés obertThis paper introduces an approach that reduces the size of the state and maximizes the sparsity of the information matrix in exactly sparse delayed-state SLAM. We propose constant time procedures to measure the ... -
Registration of 3d point clouds for urban robot mapping
(2008)
Report de recerca
Accés obertWe consider the task of mapping pedestrian urban areas for a robotic guidance and surveillance application. This mapping is performed by registering three-dimensional laser range scans acquired with two different robots. To ... -
Robust color contour object detection invariant to shadows
(Springer Verlag, 2007)
Capítol de llibre
Accés obertIn this work a new robust color and contour based object detection method in images with varying shadows is presented. The method relies on a physics-based contour detector that emphasizes material changes and a contour-based ...
