Now showing items 1-20 of 21

    • 3D object reconstruction from Swissranger sensor data using a spring-mass model 

      Dellen, Babette; Alenyà Ribas, Guillem; Foix Salmerón, Sergi; Torras, Carme (INSTICC Press. Institute for Systems and Technologies of Information, Control and Communication, 2009)
      Part of book or chapter of book
      Restricted access - publisher's policy
      We register close-range depth images of objects using a Swissranger sensor and apply a spring-mass model for 3D object reconstruction. The Swissranger sensor delivers depth images in real time which have, compared with ...
    • 3D sensor planning framework for leaf probing 

      Foix Salmerón, Sergi; Alenyà Ribas, Guillem; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2015)
      Conference report
      Open Access
      Modern plant phenotyping requires active sensing technologies and particular exploration strategies. This article proposes a new method for actively exploring a 3D region of space with the aim of localizing special areas ...
    • Construcció i programació d'un cap robòtic 

      García Serrano, Aniol; Alenyà Ribas, Guillem; Foix Salmerón, Sergi (2016)
      External research report
      Open Access
      Aquest projecte ha estat desenvolupat durant l'estada a l'empresa de primer de batxillerat. Va ser dut a terme al laboratori de Percepció i Manipulació de l'IRI (Institut de Robòtica i Informàtica Industrial) i proposat i ...
    • Exploitation of time-of-flight (ToF) cameras 

      Foix Salmerón, Sergi; Alenyà Ribas, Guillem; Torras, Carme (2010)
      External research report
      Open Access
      This technical report reviews the state-of-the art in the field of ToF cameras, their advantages, their limitations, and their present-day applications sometimes in combination with other sensors. Even though ToF cameras ...
    • Indoor and outdoor depth imaging of leaves with time-of-flight and stereo vision sensors: analysis and comparison 

      Kazmi, Wajahat; Foix Salmerón, Sergi; Alenyà Ribas, Guillem; Andersen, Hans Jørgen (2014-02-01)
      Article
      Open Access
      In this article we analyze the response of Time-of-Flight (ToF) cameras (active sensors) for close range imaging under three different illumination conditions and compare the results with stereo vision (passive) sensors. ...
    • Information-gain view planning for free-form object reconstruction with a 3D ToF camera 

      Foix Salmerón, Sergi; Kriegel, Simon; Fuchs, Stefan; Alenyà Ribas, Guillem; Torras, Carme (Springer, 2012)
      Conference report
      Open Access
      Active view planning for gathering data from an unexplored 3D complex scenario is a hard and still open problem in the computer vision community. In this paper, we present a general task-oriented approach based on an ...
    • Lock-in time-of-flight (ToF) cameras: a survey 

      Foix Salmerón, Sergi; Alenyà Ribas, Guillem; Torras, Carme (2011)
      Article
      Open Access
      This paper reviews the state-of-the art in the field of lock-in ToF cameras, their advantages, their limitations, the existing calibration methods, and the way they are being used, sometimes in combination with other ...
    • Object modeling using a ToF camera under an uncertainty reduction approach 

      Foix Salmerón, Sergi; Alenyà Ribas, Guillem; Andrade-Cetto, Juan; Torras, Carme (2010)
      Conference report
      Open Access
      Time-of-Flight (ToF) cameras deliver 3D images at 25 fps, offering great potential for developing fast object modeling algorithms. Surprisingly, this potential has not been extensively exploited up to now. A reason for ...
    • On inferring intentions in shared tasks for industrial collaborative robots 

      Olivares Alarcos, Alberto; Foix Salmerón, Sergi; Alenyà Ribas, Guillem (2019)
      Article
      Open Access
      Inferring human operators' actions in shared collaborative tasks, plays a crucial role in enhancing the cognitive capabilities of industrial robots. In all these incipient collaborative robotic applications, humans and ...
    • Plant leaf imaging using time of flight camera under sunlight, shadow and room conditions 

      Kazmi, Wajahat; Foix Salmerón, Sergi; Alenyà Ribas, Guillem (2012)
      Conference report
      Open Access
      In this article, we analyze the effects of ambient light on Time of Flight (ToF) depth imaging for a plant’s leaf in sunlight, shadow and room conditions. ToF imaging is sensitive to ambient light and we try to find the ...
    • Reward-weighted GMM and its application to action-selection in robotized shoe dressing 

      Colomé Figueras, Adrià; Foix Salmerón, Sergi; Alenyà Ribas, Guillem; Torras, Carme (Springer, 2017)
      Conference report
      Open Access
      In the context of assistive robotics, robots need to make multiple decisions. We explore the problem where a robot has multiple choices to perform a task and must select the action that maximizes success probability among ...
    • Robotic leaf probing via segmentation of range data into surface patches 

      Alenyà Ribas, Guillem; Dellen, Babette; Foix Salmerón, Sergi; Torras, Carme (2012)
      Conference report
      Open Access
      We present a novel method for the robotized probing of plant leaves using Time-of-Flight (ToF) sensors. Plant images are segmented into surface patches by combining a segmentation of the infrared intensity image, provided ...
    • Robotized plant probing: leaf segmentation utilizing time-of-flight data 

      Alenyà Ribas, Guillem; Dellen, Babette; Foix Salmerón, Sergi; Torras, Carme (2013)
      Article
      Open Access
      Supervision of long-lasting extensive botanic experiments is a promising robotic application that some recent technological advances have made feasible. Plant modeling for this application has strong demands, particularly ...
    • Robots and IoT devices for assistive automation 

      Bedin, Kevin; Foix Salmerón, Sergi; Alenyà Ribas, Guillem (2019)
      External research report
      Open Access
      In recent years, we live every day in an ever more connected world. This phenomenon has developed the technologies of the Internet of Things (IoT). At the same time, advances in robotics now make it possible to have ...
    • Segmenting color images into surface patches by exploiting sparse depth data 

      Dellen, Babette; Alenyà Ribas, Guillem; Foix Salmerón, Sergi; Torras, Carme (2011)
      Conference report
      Open Access
      We present a new method for segmenting color images into their composite surfaces by combining color segmentation with model-based fitting utilizing sparse depth data, acquired using time-of-flight (Swissranger, PMD CamCube) ...
    • Task-driven active sensing framework applied to leaf probing 

      Foix Salmerón, Sergi; Alenyà Ribas, Guillem; Torras, Carme (2018-04-01)
      Article
      Open Access
      This article presents a new method for actively exploring a 3D workspace with the aim of localizing relevant regions for a given task. Our method encodes the exploration route in a multi-layer occupancy grid map. This map, ...
    • Task-oriented viewpoint planning for free-form objects 

      Foix Salmerón, Sergi (Universitat Politècnica de Catalunya, 2016-07-28)
      Doctoral thesis
      Open Access
      This thesis deals with active sensing and its use in real exploration tasks under both scene ambiguities and measurement uncertainties. While object modeling is the implicit objective of most of active sensing algorithms, ...
    • ToF cameras for active vision in robotics 

      Alenyà Ribas, Guillem; Foix Salmerón, Sergi; Torras, Carme (2014)
      Article
      Open Access
      ToF cameras are now a mature technology that is widely being adopted to provide sensory input to robotic applications. Depending on the nature of the objects to be perceived and the viewing distance, we distinguish two ...
    • ToF cameras for eye-in-hand robotics 

      Alenyà Ribas, Guillem; Foix Salmerón, Sergi; Torras, Carme (2015)
      Part of book or chapter of book
      Open Access
      A Time-of-Flight (ToF) camera is a relatively new type of sensor that delivers 3-dimensional images at high frame rate, simultaneously providing intensity data and range information for every pixel. It has been used in a ...
    • Towards plant monitoring through next best view 

      Foix Salmerón, Sergi; Alenyà Ribas, Guillem; Torras, Carme (IOS Press, 2011)
      Conference report
      Open Access
      Monitoring plants using leaf feature detection is a challenging perception task because different leaves, even from the same plant, may have very different shapes, sizes and deformations. In addition, leaves may be ...