Browsing by Author "Munguía Alcalá, Rodrigo Francisco"

Now showing items 1-20 of 42

    • 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 hybrid visual-based SLAM architecture: local filter-based SLAM with keyframe-based global mapping 

      Munguía Alcalá, Rodrigo Francisco; Trujillo, Juan Carlos; Guerra Paradas, Edmundo; Grau Saldes, Antoni (Multidisciplinary Digital Publishing Institute (MDPI), 2021-12-29)
      Article
      Open Access
      This work presents a hybrid visual-based SLAM architecture that aims to take advantage of the strengths of each of the two main methodologies currently available for implementing visual-based SLAM systems, while at the ...

    • A practical method for implementing an attitude and heading reference system 

      Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (2014-04-15)
      Article
      Open Access
      This paper describes a practical and reliable algorithm for implementing an Attitude and Heading Reference System (AHRS). This kind of system is essential for real time vehicle navigation, guidance and control applications. ...

    • A robust approach for a filter-based monocular simultaneous localization and mapping (SLAM) system 

      Munguía Alcalá, Rodrigo Francisco; Castillo Toledo, Bernardino; Grau Saldes, Antoni (2013-07-03)
      Article
      Open Access
      Simultaneous Localization and Mapping (SLAM) is an important problem to solve in robotics theory in order to build truly autonomous mobile robots. This work presents a novel method for implementing a SLAM system based on ...

    • 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 ...

    • An attitude and heading reference system (AHRS) based in a dual filter 

      Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (IEEE Press. Institute of Electrical and Electronics Engineers, 2011)
      Conference lecture
      Restricted access - publisher's policy
      This paper describes the design, analysis, and experimental results of an Attitude and Heading System based on a Dual Kalman Filtering technique. The presented scheme is suitable for implementation using low cost sensors. ...

    • Attitude and heading system based on EKF total state configuration 

      Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (IEEE Industrial Electronics Society, 2011)
      Conference report
      Restricted access - publisher's policy
      This paper describes the design, analysis, and experimental results of an Attitude and Heading System based on total state (direct) Extended Kalman Filtering technique. The presented scheme is suitable for implementation ...

    • 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) ...

    • Bearing-only slam methods 

      Munguía Alcalá, Rodrigo Francisco (Universitat Politècnica de Catalunya, 2009-10-19)
      Doctoral thesis
      Open Access
      SLAM (Simulatenous Localization and Mapping) es quizá el problema más importante a solucionar en robótica para construir robots móviles verdaderamente autónomos. El SLAM es acerca de cómo un robot móvil opera en un entorno ...

    • Behavioral-based autonomous robot operation under robot-central base loss of communication 

      Grau Saldes, Antoni; Guerra Paradas, Edmundo; Bolea Monte, Yolanda; Munguía Alcalá, Rodrigo Francisco (Springer, Charm, 2020)
      Conference report
      Restricted access - publisher's policy
      Robot navigation requires the use of a reliable map. Depending on the environment conditions, this map needs a constant update for a safe navigation. Autonomous robots use this map but at the same can contribute to the ...

    • Closing loops with a virtual sensor based on monocular SLAM 

      Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (2009-08)
      Article
      Open Access
      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)
      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 ...

    • Concurrent initialization for Bearing-Only SLAM 

      Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (2010-03-01)
      Article
      Open Access
      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)
      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 ...

    • 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
      Open Access
      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)
      Conference lecture
      Open Access
      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
      Open Access
      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)
      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 ...