http://hdl.handle.net/2117/3754 Mon, 20 May 2013 16:20:12 GMT 2013-05-20T16:20:12Z webmaster.bupc@upc.edu Universitat Politècnica de Catalunya. Servei de Biblioteques i Documentació no http://hdl.handle.net/2117/16938 Title: Etude d'un canal d'irrigation MIMO Authors: Chefdor, Nicolas; Bolea Monte, Yolanda; Grau Saldes, Antoni Abstract: Treball de recerca fet per l'alumne Nicolas Chefdor durant la seva estada al laboratori de recerca VIS-ESAII a la UPC. Dirigit pels Dr. Yolanda Bolea i Dr. Antoni Grau. Estada del 1/06/2011-30/09/2011 Fri, 16 Nov 2012 11:44:48 GMT http://hdl.handle.net/2117/16938 2012-11-16T11:44:48Z Chefdor, Nicolas; Bolea Monte, Yolanda; Grau Saldes, Antoni no Treball de recerca fet per l'alumne Nicolas Chefdor durant la seva estada al laboratori de recerca VIS-ESAII a la UPC. Dirigit pels Dr. Yolanda Bolea i Dr. Antoni Grau. Estada del 1/06/2011-30/09/2011 http://hdl.handle.net/2117/14112 Title: Stochastic approximations of average values using proportions of samples Authors: Agostini, Alejandro Gabriel; Celaya Llover, Enric Abstract: In this work we explain how the stochastic approximation of the average of a random variable is carried out when the observations used in the updates consist in proportion of samples rather than complete samples. Description: IRI Technical Report Tue, 29 Nov 2011 14:54:00 GMT http://hdl.handle.net/2117/14112 2011-11-29T14:54:00Z Agostini, Alejandro Gabriel; Celaya Llover, Enric no In this work we explain how the stochastic approximation of the average of a random variable is carried out when the observations used in the updates consist in proportion of samples rather than complete samples. http://hdl.handle.net/2117/13936 Title: Registration of 3d point clouds for urban robot mapping Authors: Teniente Avilés, Ernesto; Andrade-Cetto, Juan Abstract: We 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 solve this task we will use the Iterative Closes Point (ICP) algorithm proposed in [8], but for the minimization step we will use the metric proposed by Biota et al. [10] trying to get advantage of the compensation between translation and rotation they mention. To reduce computational cost in the original ICP during matching, the correspondences search is done with the library Approximate Nearest Neighbor (ANN). Finally we propose a hierarchical new correspondence search strategy, using a point-to-plane strategy at the highest level and the point-to-point metric at finer levels. At the highest level the adjust error between a plane and it’s n adjacent points describing the plane is computed, if this error is bigger than a threshold then we change the level. Wed, 16 Nov 2011 13:18:24 GMT http://hdl.handle.net/2117/13936 2011-11-16T13:18:24Z Teniente Avilés, Ernesto; Andrade-Cetto, Juan no Automation 3d mapping 3d registration ICP We 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 solve this task we will use the Iterative Closes Point (ICP) algorithm proposed in [8], but for the minimization step we will use the metric proposed by Biota et al. [10] trying to get advantage of the compensation between translation and rotation they mention. To reduce computational cost in the original ICP during matching, the correspondences search is done with the library Approximate Nearest Neighbor (ANN). Finally we propose a hierarchical new correspondence search strategy, using a point-to-plane strategy at the highest level and the point-to-point metric at finer levels. At the highest level the adjust error between a plane and it’s n adjacent points describing the plane is computed, if this error is bigger than a threshold then we change the level. http://hdl.handle.net/2117/12449 Title: Path planning with pose SLAM Authors: Valencia Carreño, Rafael; Andrade-Cetto, Juan; Porta Pleite, Josep Maria Abstract: 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 graph of landmark estimates and their probabilistic relations, which is of little value to find collision free paths for navigation. In contrast, we argue in this paper that Pose SLAM graphs can be directly used as belief roadmaps (BRMs). The original BRM algorithm assumes a known model of the environment from which probabilistic sampling generates a roadmap. In our work, the roadmap is built on-line by the Pose SLAM algorithm. The result is a hybrid BRM-Pose SLAM method that devises optimal navigation strategies on-line by searching for the path with lowest accumulated uncertainty for the robot pose. The method is validated over synthetic data and standard SLAM datasets. Tue, 03 May 2011 09:44:15 GMT http://hdl.handle.net/2117/12449 2011-05-03T09:44:15Z Valencia Carreño, Rafael; Andrade-Cetto, Juan; Porta Pleite, Josep Maria no mobile robots PARAULES AUTOR: Path Planning, SLAM 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 graph of landmark estimates and their probabilistic relations, which is of little value to find collision free paths for navigation. In contrast, we argue in this paper that Pose SLAM graphs can be directly used as belief roadmaps (BRMs). The original BRM algorithm assumes a known model of the environment from which probabilistic sampling generates a roadmap. In our work, the roadmap is built on-line by the Pose SLAM algorithm. The result is a hybrid BRM-Pose SLAM method that devises optimal navigation strategies on-line by searching for the path with lowest accumulated uncertainty for the robot pose. The method is validated over synthetic data and standard SLAM datasets. http://hdl.handle.net/2117/12013 Title: Estudi de la transformació de l'espai de color RGB a l'espai de color HSV Authors: Grau Gotés, Mª Ángela; Grau Sánchez, Miguel; Montseny Masip, Eduard; Sobrevilla Frisón, Pilar Abstract: S’apliquen les tècniques clàssiques de propagació de l’error a la transformació de l’espai de color RGB en l’espai de color HSV a un conjunt de 1098 imatges test. El conjunt d’imatges test són 183 paletes de color i sis nivells d’il·luminació diferents. Els resultats que es presenten indiquen com varien la mitjana i la variància per la transformació. Tue, 22 Mar 2011 10:51:28 GMT http://hdl.handle.net/2117/12013 2011-03-22T10:51:28Z Grau Gotés, Mª Ángela; Grau Sánchez, Miguel; Montseny Masip, Eduard; Sobrevilla Frisón, Pilar no S’apliquen les tècniques clàssiques de propagació de l’error a la transformació de l’espai de color RGB en l’espai de color HSV a un conjunt de 1098 imatges test. El conjunt d’imatges test són 183 paletes de color i sis nivells d’il·luminació diferents. Els resultats que es presenten indiquen com varien la mitjana i la variància per la transformació. http://hdl.handle.net/2117/11543 Title: Audio localization for mobile robots Authors: de Guillebon, Thibaut; Grau Saldes, Antoni; Bolea Monte, Yolanda Abstract: The department of the University for which I worked is developing a project based on the interaction with robots in the environment. My work was to define an audio system for the robot. This audio system that I have to realize consists on a mobile head which is able to follow the sound in its environment. This subject was treated as a research problem, with the liberty to find and develop different solutions and make them evolve in the chosen way. Fri, 25 Feb 2011 10:59:41 GMT http://hdl.handle.net/2117/11543 2011-02-25T10:59:41Z de Guillebon, Thibaut; Grau Saldes, Antoni; Bolea Monte, Yolanda no The department of the University for which I worked is developing a project based on the interaction with robots in the environment. My work was to define an audio system for the robot. This audio system that I have to realize consists on a mobile head which is able to follow the sound in its environment. This subject was treated as a research problem, with the liberty to find and develop different solutions and make them evolve in the chosen way.