Now showing items 1-20 of 26

    • A Highest order hypothesis compatibility test for monocular SLAM 

      Guerra Paradas, Edmundo; Munguía Alcalá, Rodrigo Francisco; Bolea Monte, Yolanda; Grau Saldes, Antoni (2013-08)
      Article
      Open Access
      Simultaneous Location and Mapping (SLAM) is a key problem to solve in order to build truly autonomous mobile robots. SLAM with a unique camera, or monocular SLAM, is probably one of the most complex SLAM variants, based ...
    • A solution for robotized sampling in wastewater plants 

      Guerra Paradas, Edmundo; Bolea Monte, Yolanda; Grau Saldes, Antoni; Munguía Alcalá, Rodrigo Francisco; Gámiz Caro, Javier Francisco (IEEE Press, 2016)
      Conference report
      Open Access
      This work presents a solution to automatize the water sampling process of outdoor basins in a wastewater treatment plant. The system proposed is based on the utilization of collaborative robotics: a team of an UAV and a ...
    • Aerial robotics in building inspection and maintenance 

      Grau Saldes, Antoni; Guerra Paradas, Edmundo; Bolea Monte, Yolanda; Puig-Pey Clavería, Ana María; Sanfeliu Cortés, Alberto (Technische Universität München, 2018)
      Conference lecture
      Open Access
      Buildings need periodic revision about their state, materials degrade with time and repairs or renewals have to be made driven by maintenance needs or safety requirements. That happens with any kind of buildings and ...
    • Batch gating for data association in monocular SLAM 

      Guerra Paradas, Edmundo; Munguía Alcalá, Rodrigo Francisco; Bolea Monte, Yolanda; Grau Saldes, Antoni (Trans Tech Publications, 2013-05-27)
      Article
      Restricted access - publisher's policy
      This work describes the development and implementation of a single-camera SLAM system, introducing a novel data validation algorithm. A 6-DOF monocular SLAM method developed is based on the Delayed Inverse-Depth (DI-D) ...
    • 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)
      Conference report
      Restricted access - publisher's policy
      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 ...
    • 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)
      Other
      Open Access
    • 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
      Open Access
      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 ...
    • 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)
      Part of book or chapter of book
      Open Access
      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
      Open Access
      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 ...
    • 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 ...
    • 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
      Open Access
      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)
      Conference report
      Restricted access - publisher's policy
      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 ...
    • Implantació i difusió de la competència sostenibilitat i compromís social en l’enginyeria de sistemes 

      Bolea Monte, Yolanda; Grau Saldes, Antoni; Martínez García, Herminio; Manzanares Brotons, Manuel; Guerra Paradas, Edmundo; Miranda Añón, Alexandre (Universitat Politècnica de Catalunya. Institut de Ciències de l'Educació, 2013-02-08)
      Conference report / Conference lecture
      Open Access
      L’objectiu d’aquest projecte és dotar al cos docent de la UPC de materials, coneixements i sensibilitat necessaris per integrar en els seus ensenyaments la competència transversal de la “Sostenibilitat i el Compromís ...
    • Monocular SLAM : data association and sensing through a human-assisted uncalibrated visual system 

      Guerra Paradas, Edmundo (Universitat Politècnica de Catalunya, 2017-07-17)
      Doctoral thesis
      Open Access
      The Simultaneous Localization and Mapping (SLAM) problem is widely acknowledged as one of the fundamental problem to solve in perception and robotics to produce actual mobile robotic agents. The problem itself is that of ...
    • Monocular SLAM for autonomous robots with enhanced features initialization 

      Guerra Paradas, Edmundo; Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (2014-04-02)
      Article
      Open Access
      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 ...
    • New approach on bearing-only SLAM for indoor environments 

      Guerra Paradas, Edmundo; Bolea Monte, Yolanda; Grau Saldes, Antoni; Munguía Alcalá, Rodrigo Francisco (2011)
      Conference lecture
      Restricted access - publisher's policy
      In this paper a novel Simultaneous Localization and Mapping (SLAM) is presented. Using the sound as the input signal, instead of the classical vision or laser systems, leads to a SSLAM (sound SLAM) with a new features, ...
    • Perception for detection and grasping 

      Guerra Paradas, Edmundo; Pumarola Peris, Albert; Grau Saldes, Antoni; Sanfeliu Cortés, Alberto (Springer, 2019)
      Part of book or chapter of book
      Open Access
      This research presents a methodology for the detection of the crawler used in the project AEROARMS. The approach consisted on using a two-step progressive strategy, going from rough detection and tracking, for approximation ...
    • 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 ...
    • Pseudo-measured LPV Kalman filter for SLAM 

      Guerra Paradas, Edmundo; Bolea Monte, Yolanda; Grau Saldes, Antoni (Institute of Electrical and Electronics Engineers, 2012)
      Conference report
      Restricted access - publisher's policy
      This paper describes a new approach to the wellknown robotics problem of simultaneous location and mapping (SLAM). The proposed technique introduces a linear varying parameter (LPV) modeling solution for the estimation ...
    • Simulación de Modelos de Sistemas Dinámicos para Sostenibilidad 

      Guerra Paradas, Edmundo (Universitat Politècnica de Catalunya, 2009-01-29)
      Master thesis (pre-Bologna period)
      Open Access
      El principal objetivo de este PFC es la realización de una serie de simulaciones de sistemas dinámicos de temática vinculada al medio ambiente y la sostenibilidad, basándose en los modelos matemáticos que los describen. ...