Exploració per autor "Andrade-Cetto, Juan"
Ara es mostren els items 74-93 de 97
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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 ... -
Segmentation of dynamic objects from laser data
(2011)
Text en actes de congrés
Accés obertWe present a method to segment dynamic objects from high-resolution low-rate laser scans. Data points are tagged as static or dynamic based on the classification of pixel data from registered imagery. Per-pixel background ... -
Shared random Ferns for efficient detection of multiple categories
(2010)
Text en actes de congrés
Accés obertWe propose a new algorithm for detecting multiple object categories that exploits the fact that different categories may share common features but with different geometric distributions. This yields an efficient detector ... -
Simultaneous pose, focal length and 2D-to-3D correspondences from noisy observations
(2013)
Text en actes de congrés
Accés obertSimultaneously recovering the camera pose and correspondences between a set of 2D-image and 3D-model points is a difficult problem, especially when the 2D-3D matches cannot be established based on appearance only. The ... -
Task priority control for aerial manipulation
(2014)
Text en actes de congrés
Accés obertThis paper presents a task oriented control strategy for aerial vehicles equipped with a manipulator. A camera is attached to the end-effector of the manipulator to perform a primary task consisting on visual servoing ... -
Technological advances for intelligent vehicles: shared control in highly complex contexts and the automation of transport in segregated environments
(Instituto de Carboquímica, 2020)
Article
Accés obertTo make autonomous driving a mass reality in cities there are still important technological barriers to be solved. It is therefore foreseeable that its implementation will be gradual, prioritising its appearance in operational ... -
Terrain classification in complex three-dimensional outdoor environments
(2015)
Article
Accés obertThis paper presents two techniques to detect and classify navigable terrain in complex three-dimensional (3D) environments. The first method is a low level on-line mechanism aimed at detecting obstacles and holes at a fast ... -
Timed-elastic smooth curve optimization for mobile-base motion planning
(Institute of Electrical and Electronics Engineers (IEEE), 2019)
Text en actes de congrés
Accés obertThis paper proposes the use of piecewise Cn smooth curve for mobile-base motion planning and control, coined Timed-Elastic Smooth Curve (TESC) planner. Based on a Timed-Elastic Band, the problem is defined so that the ... -
Towards SLAM with an events-based camera
(2016)
Report de recerca
Accés obertEvent-based cameras have an incredible potential in real-time and real-world robotics. They would enable more efficient algorithms in applications where high demanding requirements, such as rapid dynamic motion and high ... -
Trajectory generation for unmanned aerial manipulators through quadratic programming
(Institute of Electrical and Electronics Engineers (IEEE), 2017-04-01)
Article
Accés obertIn this paper a trajectory generation approach using quadratic programming is described for aerial manipulation, i.e. for the control of an aerial vehicle equipped with a robot arm. The proposed approach ... -
Uncalibrated image-based visual servoing
(2013)
Text en actes de congrés
Accés obertThis paper develops a new method for uncalibrated image-based visual servoing. In contrast to traditional image-based visual servo, the proposed solution does not require a known value of camera focal length for the ... -
Uncalibrated visual servo for unmanned aerial manipulation
(Institute of Electrical and Electronics Engineers (IEEE), 2017-08-01)
Article
Accés obertThis paper addresses the problem of autonomous servoing an unmanned redundant aerial manipulator using computer vision. The overactuation of the system is exploited by means of a hierarchical control law, which allows to ... -
Uncertainty analysis of the DLT-Lines calibration algorithm for cameras with radial distortion
(2015)
Article
Accés obert3D metric data of environmental structures is nowadays present in many information sources (maps, GIS) and can be easily acquired with modern depth sensing technology (RGBD, laser). This wealth of information can be readily ... -
Unidimensional multiscale local features for object detection under rotation and mild occlusions
(Springer Verlag, 2007)
Capítol de llibre
Accés obertIn this article, scale and orientation invariant object detection is performed by matching intensity level histograms. Unlike other global measurement methods, the present one uses a local feature description that allows ... -
Unidimensional multiscale local features for object detection under rotation and mild occlusions
(Springer, 2007)
Text en actes de congrés
Accés restringit per política de l'editorialIn this article, scale and orientation invariant object detection is performed by matching intensity level histograms. Unlike other global measurement methods, the present one uses a local feature description that allows ... -
Vision-based loop closing for delayed state robot mapping
(IEEE, 2007)
Text en actes de congrés
Accés obertThis 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 ... -
Vision-based loop closing for delayed state robot mapping
(2007)
Text en actes de congrés
Accés obertThis 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 ...
