Exploració per autor "Munguía Alcalá, Rodrigo Francisco"

Ara es mostren els items 11-30 de 42

    • Closing loops with a virtual sensor based on monocular SLAM 

      Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (2009-08)
      Article
      Accés obert
      Monocular simultaneous localization and mapping(SLAM) techniques implicitly estimate camera ego-motion while incrementally building a map of the environment. In monocular SLAM, when the number of features in the system ...

    • Collaborative localization for autonomous robots in structured environments 

      Guerra Paradas, Edmundo; Munguía Alcalá, Rodrigo Francisco; Bolea Monte, Yolanda; Grau Saldes, Antoni (Institute of Electrical and Electronics Engineers (IEEE), 2016)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      A complete approach to the visual localization and mapping problem (SLAM) is presented in this work. The presented approach exploits the enhanced capabilities of a system where a human and a robot collaborate in ...

    • Concurrent initialization for Bearing-Only SLAM 

      Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (2010-03-01)
      Article
      Accés obert
      Simultaneous Localization and Mapping (SLAM) is perhaps the most fundamental problem to solve in robotics in order to build truly autonomous mobile robots. The sensors have a large impact on the algorithm used for SLAM. ...

    • Cooperative monocular SLAM for multi-UAV systems 

      Trujillo, Juan Carlos; Munguía Alcalá, Rodrigo Francisco; Guerra Paradas, Edmundo; Grau Saldes, Antoni (MDPI AG, 2017-12-04)
      Altres
      Accés obert

    • Cooperative monocular-based SLAM for multi-UAV systems in GPS-denied environments 

      Trujillo, Juan Carlos; Munguía Alcalá, Rodrigo Francisco; Guerra Paradas, Edmundo; Grau Saldes, Antoni (Multidisciplinary Digital Publishing Institute (MDPI), 2018-04-26)
      Article
      Accés obert
      This work presents a cooperative monocular-based SLAM approach for multi-UAV systems that can operate in GPS-denied environments. The main contribution of the work is to show that, using visual information obtained from ...

    • Cooperative visual-SLAM system for UAV-based target tracking in GPS-denied environments: a target-centric approach 

      Trujillo, Juan Carlos; Munguía Alcalá, Rodrigo Francisco; Urzúa Sarquis, Isidro; Grau Saldes, Antoni (2020-05-15)
      Article
      Accés obert
      Autonomous tracking of dynamic targets by the use of Unmanned Aerial Vehicles (UAVs) is a challenging problem that has practical applications in many scenarios. In this context, a fundamental aspect that must be addressed ...

    • Delayed inverse depth monocular SLAM 

      Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (PERGAMON PRESS. IFAC SERIES., 2008)
      Comunicació de congrés
      Accés obert
      The 6-DOF monocular camera case possibly represents the harder variant in the context of simultaneous localization and mapping problem. In the last years, several advances have been appeared in this area; however the ...

    • Delayed monocular SLAM approach applied to unmanned aerial vehicles 

      Munguía Alcalá, Rodrigo Francisco; Urzua, Sarquis; Grau Saldes, Antoni (2016-12-29)
      Article
      Accés obert
      In recent years, many researchers have addressed the issue of making Unmanned Aerial Vehicles (UAVs) more and more autonomous. In this context, the state estimation of the vehicle position is a fundamental necessity for ...

    • Design and development of aerial robotic systems for sampling operations in industrial environment 

      Munguía Alcalá, Rodrigo Francisco; Guerra Paradas, Edmundo; Urzua, Sarquis; Bolea Monte, Yolanda; Grau Saldes, Antoni (InTech, 2017-09-06)
      Capítol de llibre
      Accés obert
      This chapter describes the development of an autonomous fluid sampling system for outdoor facilities, and the localization solution to be used. The automated sampling system will be based on collaborative robotics, with a ...

    • Detection and positioning of pipes and columns with autonomous multicopter drones 

      Guerra Paradas, Edmundo; Munguía Alcalá, Rodrigo Francisco; Bolea Monte, Yolanda; Grau Saldes, Antoni (2018-06-21)
      Article
      Accés obert
      A multimodal sensory array to accurately position aerial multicopter drones with respect to pipes has been studied, and a solution exploiting both LiDAR and vision sensors has been proposed. Several challenges, including ...

    • EKF-based parameter identification of multi-rotor unmanned aerial vehiclesmodels 

      Munguía Alcalá, Rodrigo Francisco; Urzúa Sarquis, Isidro; Grau Saldes, Antoni (Multidisciplinary Digital Publishing Institute (MDPI), 2019-09-26)
      Article
      Accés obert
      This work presents a method for estimating the model parameters of multi-rotor unmanned aerial vehicles by means of an extended Kalman filter. Different from test-bed based identification methods, the proposed approach ...

    • FIDD bearing-only SLAM 

      Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (IEEE Press. Institute of Electrical and Electronics Engineers, 2010)
      Text en actes de congrés
      Accés obert
      Simultaneous Localization and Mapping (SLAM) is perhaps the most fundamental problem to solve in robotics in order to build truly autonomous mobile robots. The sensors have a large impact on the algorithm used for SLAM. ...

    • Full autonomous navigation for an aerial robot using behavior-based control motion and SLAM 

      Gómez Anaya, David; Munguía Alcalá, Rodrigo Francisco; Guerra Paradas, Edmundo; Grau Saldes, Antoni (Institute of Electrical and Electronics Engineers (IEEE), 2014)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      This work presents a complete navigation architecture for an autonomous aerial robot. The proposed scheme consist of: i) a low-level controller for establishing the attitude and position of the vehicle, ii) a Simultaneous ...

    • Human collaborative localization and mapping in indoor environments with non-continuous stereo 

      Guerra Paradas, Edmundo; Munguía Alcalá, Rodrigo Francisco; Bolea Monte, Yolanda; Grau Saldes, Antoni (2016-02-24)
      Article
      Accés obert
      A new approach to the monocular simultaneous localization and mapping (SLAM) problem is presented in this work. Data obtained from additional bearing-only sensors deployed as wearable devices is fully fused into an Extended ...

    • Human-Robot SLAM in industrial environments 

      Guerra Paradas, Edmundo; Bolea Monte, Yolanda; Grau Saldes, Antoni; Munguía Alcalá, Rodrigo Francisco (Institute of Electrical and Electronics Engineers (IEEE), 2015)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      A novel approach to the SLAM problem has been tested in an industrial environment within a robotic assistance context. In order to be fully reliable in non-modelled circumstances where the environment cannot be considered ...

    • Image processing techniques in vision-based robot navigation 

      Munguía Alcalá, Rodrigo Francisco; Bolea Monte, Yolanda; Grau Saldes, Antoni (Institute of Electrical and Electronics Engineers (IEEE), 2019)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      Motivated by the problems of vision-based mobile robot map building and localization, we present a comparative study of statistical methods for matching image features in a wide base line between learning and recognition ...

    • Minimalistic approach for monocular SLAM system applied to micro aerial vehicles in GPS-denied environments 

      Sarquís Urzúa Cevallos, Isidro; Munguía Alcalá, Rodrigo Francisco; Nuño Ortega, Emmanuel; Grau Saldes, Antoni (2018-12-01)
      Article
      Accés obert
      In this work, a novel monocular simultaneous localization and mapping (SLAM) system with application to micro aerial vehicles is proposed. The main difference with respect to previous approaches is that a barometer is used ...

    • Monocular SLAM for autonomous robots with enhanced features initialization 

      Guerra Paradas, Edmundo; Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (2014-04-02)
      Article
      Accés obert
      This work presents a variant approach to the monocular SLAM problem focused in exploiting the advantages of a human-robot interaction (HRI) framework. Based upon the delayed inverse-depth feature initialization SLAM (DI-D ...

    • Monocular SLAM for visual odometry: a full approach to the delayed inverse-depth feature initialization method 

      Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (2012-09)
      Article
      Accés obert
      This paper describes in a detailed manner a method to implement a simultaneous localization and mapping SLAM system based on monocular vision for applications of visual odometry, appearance-based sensing, and emulation ...

    • Monocular SLAM system for MAVs aided with altitude and range measurements: a GPS-free approach 

      Urzua, Sarquis; Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (2019-04)
      Article
      Accés obert
      A typical navigation system for a Micro Aerial Vehicle (MAV) relies basically on GPS for position estimation. However,for several kinds of applications, the precision of the GPS is inappropriate or even its signal can be ...