Recent Submissions

  • Manipulation monitoring and robot intervention in complex manipulation sequences 

    Savarimuthu, Thiusius Rajeeth; Buch, Anders G.; Yang, Yang; Mustafar, Wail; Haller, Simon; Papon, Jeremie; Martínez Martínez, David; Eren Erdal, Aksoy (2014)
    Conference report
    Open Access
    Compared to machines, humans are intelligent and dexterous; they are indispensable for many complex tasks in areas such as flexible manufacturing or scientific experimentation. However, they are also subject to fatigue and ...
  • Dimensionality reduction and motion coordination in learning trajectories with dynamic movement primitives 

    Colomé Figueras, Adrià; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Open Access
    Dynamic Movement Primitives (DMP) are nowadays widely used as movement parametrization for learning trajectories, because of their linearity in the parameters, rescaling robustness and continuity. However, when learning a ...
  • Multimodal feedback fusion of laser, image and temporal information 

    Huerta Casado, Iván; Ferrer Mínguez, Gonzalo; Herrero Cotarelo, Fernando; Prati, Andrea; Sanfeliu Cortés, Alberto (Association for Computing Machinery (ACM), 2014)
    Conference report
    Open Access
    In the present paper, we propose a highly accurate and robust people detector, which works well under highly variant and uncertain conditions, such as occlusions, false positives and false detections. These adverse conditions, ...
  • On generalized dual Euler angles 

    Rull Sanahuja, Aleix; Thomas, Federico (Springer, 2014)
    Conference report
    Open Access
    This paper first explores the generalization of Euler angles to the case in which the rotation axes are not necessarily members of an orthonormal triad, and presents a concise solution to their computation that relies on ...
  • Evaluation of random forests on large-scale classification problems using a bag-of-visual-words representation 

    Soler, Xavier; Ramisa Ayats, Arnau; Torras, Carme (2014)
    Conference report
    Open Access
    Random Forest is a very efficient classification method that has shown success in tasks like image segmentation or object detection, but has not been applied yet in large-scale image classification scenarios using a ...
  • Estimación monocular y eficiente de la pose usando modelos 3D complejos 

    Rubio Romano, Antonio; Villamizar Vergel, Michael Alejandro; Ferraz Colomina, Luis; Peñate Sánchez, Adrián; Sanfeliu Cortés, Alberto; Moreno-Noguer, Francesc (2014)
    Conference report
    Open Access
    El siguiente documento presenta un método robusto y eficiente para estimar la pose de una cámara. El método propuesto asume el conocimiento previo de un modelo 3D del entorno, y compara una nueva imagen de entrada únicamente ...
  • Leveraging feature uncertainty in the PnP problem 

    Ferraz Colomina, Luis; Binefa, Xavier; Moreno-Noguer, Francesc (2014)
    Conference report
    Open Access
    We propose a real-time and accurate solution to the Perspective-n-Point (PnP) problem –estimating the pose of a calibrated camera from n 3D-to-2D point correspondences– that exploits the fact that in practice the 2D position ...
  • Two-layer scheduling scheme for pump stations 

    Sun, Congcong; Puig Cayuela, Vicenç; Cembrano Gennari, Gabriela (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Restricted access - publisher's policy
    In this paper, a two-layer scheduling scheme for pump stations in a water distribution network has been proposed. The upper layer, which works in one-hour sampling time, uses Model Predictive Control (MPC) to produce ...
  • Very fast solution to the PnP problem with algebraic outlier rejection 

    Ferraz Colomina, Luis; Binefa, Xavier; Moreno-Noguer, Francesc (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Open Access
    We propose a real-time, robust to outliers and accurate solution to the Perspective-n-Point (PnP) problem. The main advantages of our solution are twofold: first, it integrates the outlier rejection within the pose estimation ...
  • Active learning of manipulation sequences 

    Martínez Martínez, David; Alenyà Ribas, Guillem; Jimenez Schlegl, Pablo; Torras, Carme; Rossmann, Jürgen; Wantia, Nils; Eren Erdal, Aksoy; Haller, Simon; Piater, Justus (2014)
    Conference report
    Open Access
    We describe a system allowing a robot to learn goal-directed manipulation sequences such as steps of an assembly task. Learning is based on a free mix of exploration and instruction by an external teacher, and may be active ...

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