Now showing items 1-12 of 12

  • 3D mapping for urban service robots 

    Valencia Carreño, Rafael; Teniente López, Ernest; Trulls Fortuny, Eduard; Andrade-Cetto, Juan (IEEE Press. Institute of Electrical and Electronics Engineers, 2009-10-11)
    Conference report
    Open Access
    We present an approach to the problem of 3D map building in urban settings for service robots, using threedimensional laser range scans as the main data input. Our system is based on the probabilistic alignment of 3D point ...
  • Autonomous navigation for urban service mobile robots 

    Corominas Murtra, Andreu; Trulls Fortuny, Eduard; Sandoval Torres, Óscar; Perez Ibarz, Joan; Vasquez, Dizan; Mirats Tur, Josep Maria; Ferrer Sumsi, Miquel; Sanfeliu Cortés, Alberto (2010)
    Conference report
    Open Access
    We present to the robotic community a fully autonomous navigation solution for mobile robots operating in urban pedestrian areas. We introduce our robots and the experimental zone, overview the architecture of the navigation ...
  • Combination of distributed camera network and laser-based 3D mapping for urban service robots 

    Andrade-Cetto, Juan; Ortega Jiménez, Agustín Alberto; Teniente Avilés, Ernesto; Trulls Fortuny, Eduard; Valencia Carreño, Rafael; Sanfeliu Cortés, Alberto (2009)
    Conference report
    Open Access
  • Dense segmentation-aware descriptors 

    Trulls Fortuny, Eduard; Kokkinos, Iasonas; Sanfeliu Cortés, Alberto; Moreno-Noguer, Francesc (2013)
    Conference report
    Restricted access - publisher's policy
    In this work we exploit segmentation to construct appearance descriptors that can robustly deal with occlusion and background changes. For this, we downplay measurements coming from areas that are unlikely to belong to the ...
  • Dense segmentation-aware descriptors 

    Trulls Fortuny, Eduard; Kokkinos, Iasonas; Sanfeliu Cortés, Alberto; Moreno-Noguer, Francesc (Springer, 2016)
    Part of book or chapter of book
    Restricted access - publisher's policy
    Dense descriptors are becoming increasingly popular in a host of tasks, such as dense image correspondence, bag-of-words image classification, and label transfer. However, the extraction of descriptors on generic image ...
  • Discriminative learning of deep convolutional feature point descriptors 

    Simó Serra, Edgar; Trulls Fortuny, Eduard; Ferraz, Luis; Kokkinos, Iasonas; Fua, Pascal; Moreno-Noguer, Francesc (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Conference report
    Open Access
    Deep learning has revolutionalized image-level tasks such as classification, but patch-level tasks, such as correspondence, still rely on hand-crafted features, e.g. SIFT. In this paper we use Convolutional Neural Networks ...
  • Diseño e implementación de un sistema de evasión de obstáculos para robots móviles en entornos urbanos 

    Trulls Fortuny, Eduard (Universitat Politècnica de Catalunya, 2009-09)
    Master thesis
    Restricted access - author's decision
    La transición de escenarios controlados en condiciones de laboratorio al mundo real conlleva nuevos desafíos en el campo de la robótica móvil, en aspectos tan básicos como la navegación autónoma. En este proyecto se ...
  • Efficient use of 3d environment models for mobile robot simulation and localization 

    Corominas Murtra, Andreu; Trulls Fortuny, Eduard; Mirats Tur, Josep Maria; Sanfeliu Cortés, Alberto (Springer Verlag, 2010)
    Conference report
    Open Access
    This paper provides a detailed description of a set of algorithms to efficiently manipulate 3D geometric models to compute physical constraints and range observation models, data that is usually required in real-time mobile ...
  • Enhancing low-level features with mid-level cues 

    Trulls Fortuny, Eduard (Universitat Politècnica de Catalunya, 2015-02-20)
    Doctoral thesis
    Open Access
    Local features have become an essential tool in visual recognition. Much of the progress in computer vision over the past decade has built on simple, local representations such as SIFT or HOG. SIFT in particular shifted ...
  • Graphical user interface for the URUS project 

    Trulls Fortuny, Eduard (2008)
    External research report
    Open Access
    The aim of this report is twofold. First, to present the Graphical User Interface (GUI) developed at IRI for monitoring robotic experiments in the context of the EU project URUS, its capabilities and intended use, and its ...
  • Segmentation-aware deformable part models 

    Tsogkas, Stavros; Kokkinos, Iasonas; Trulls Fortuny, Eduard; Sanfeliu Cortés, Alberto; Moreno-Noguer, Francesc (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Open Access
    In this work we propose a technique to combine bottom- up segmentation, coming in the form of SLIC superpixels, with sliding window detectors, such as Deformable Part Models (DPMs). The merit of our approach lies in ...
  • Spatiotemporal descriptor for wide-baseline stereo reconstruction of non-rigid and ambiguous scenes 

    Trulls Fortuny, Eduard; Sanfeliu Cortés, Alberto; Moreno-Noguer, Francesc (Springer, 2012)
    Conference report
    Restricted access - publisher's policy
    This paper studies the use of temporal consistency to match appearance descriptors and handle complex ambiguities when computing dynamic depth maps from stereo. Previous attempts have designed 3D descriptors over the ...