Recent Submissions

  • LETHA: learning from high quality inputs for 3D pose estimation in low quality images 

    Peñate Sanchez, Adrian; Moreno-Noguer, Francesc; Andrade-Cetto, Juan; Fleuret, François (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Open Access
    We introduce LETHA (Learning on Easy data, Test on Hard), a new learning paradigm consisting of building strong priors from high quality training data, and combining them with discriminative machine learning to deal with ...
  • Behavior estimation for a complete framework for human motion prediction in crowded environments 

    Ferrer Mínguez, Gonzalo; Sanfeliu Cortés, Alberto (2014)
    Conference report
    Open Access
    In the present work, we propose and validate a complete probabilistic framework for human motion prediction in urban or social environments. Additionally, we formulate a powerful and useful tool: the human motion behavior ...
  • Continuous real time POMCP to find-and-follow people by a humanoid service robot 

    Goldhoorn, Alex; Garrell Zulueta, Anais; Alquézar Mancho, René; Sanfeliu Cortés, Alberto (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Open Access
  • Localization in highly dynamic environments using dual-timescale NDT-MCL 

    Valencia Carreño, Rafael; Saarinen, Jari; Andreasson, Henrik; Vallvé Navarro, Joan; Andrade-Cetto, Juan; Lilienthal, Achim (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Open Access
    Industrial environments are rarely static and often their configuration is continuously changing due to the material transfer flow. This is a major challenge for infrastructure free localization systems. In this paper we ...
  • Dense entropy decrease estimation for mobile robot exploration 

    Vallvé Navarro, Joan; Andrade-Cetto, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Open Access
    We propose a method for the computation of entropy decrease in C-space. These estimates are then used to evaluate candidate exploratory trajectories in the context of autonomous mobile robot mapping. The method evaluates ...
  • Exploration on continuous Gaussian process frontier maps 

    Jadidi, Maani Ghaffari; Valls Miró, Jaime; Valencia Carreño, Rafael; Andrade-Cetto, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Open Access
    An information-driven autonomous robotic explo- ration method on a continuous representation of unknown envi- ronments is proposed in this paper. The approach conveniently handles sparse sensor measurements to build a ...
  • 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)
    Conference report
    Restricted access - publisher's policy
    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 ...
  • Policy-based optimization for matching validation algorithm in monocular robotics 

    Guerra Paradas, Edmundo; Grau Saldes, Antoni; Bolea Monte, Yolanda (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Restricted access - publisher's policy
    A novel policy to use the HOHCT validation algorithm is presented. HOHCT was introduced as a batch gating technique to validate data association in delayed initialization monocular SLAM. This new policy does not alter the ...
  • Geodesic finite mixture models 

    Simó Serra, Edgar; Torras, Carme; Moreno-Noguer, Francesc (2014)
    Conference report
    Open Access
    We present a novel approach for learning a finite mixture model on a Riemannian manifold in which Euclidean metrics are not applicable and one needs to resort to geodesic distances consistent with the manifold geometry. ...
  • Dynamic object detection fusing LIDAR data and images 

    Ortega Jimenez, Agustin Alberto; Andrade-Cetto, Juan (2014)
    Conference lecture
    Open Access
    We present a method to segment dynamic objects on point clouds using images and 3D laser data. Per-pixel background classes are adapted online as Gaussian Mixtures independently for each sensor. The learned classes are ...

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