Now showing items 1-20 of 20

    • A micro Lie theory for state estimation in robotics 

      Solà Ortega, Joan; Deray, Jeremie; Atchuthan, Dinseh (2018)
      External research report
      Open Access
      A Lie group is an old mathematical abstract object dating back to the XIX century, when mathematician Sophus Lie laid the foundations of the theory of continuous transformation groups. As it often happens, its usage has ...
    • Absolute humanoid localization and mapping based on IMU Lie group and fiducial markers 

      Fourmy, Mederic; Atchuthan, Dinseh; Mansard, Nicolas; Solà Ortega, Joan; Flayols, Thomas (2019)
      Conference report
      Open Access
      Current locomotion algorithms in structured (in-door) 3D environments require an accurate localization. The several and diverse sensors typically embedded on legged robots (IMU, coders, vision and/or LIDARS) should make ...
    • Autonomous navigation of micro aerial vehicles using high-rate and low-cost sensors 

      Santamaria Navarro, Àngel; Loianno, Giuseppe; Solà Ortega, Joan; Kumar, Vijay; Andrade-Cetto, Juan (2018-06-01)
      Article
      Open Access
      The combination of visual and inertial sensors for state estimation has recently found wide echo in the robotics community, especially in the aerial robotics field, due to the lightweight and complementary characteristics ...
    • Deconvolutional networks for point-cloud vehicle detection and tracking in driving scenarios 

      Vaquero Gómez, Víctor; del Pino Bastida, Iván; Moreno-Noguer, Francesc; Solà Ortega, Joan; Sanfeliu Cortés, Alberto; Andrade-Cetto, Juan (IEEE Press, 2017)
      Conference report
      Open Access
      Vehicle detection and tracking is a core ingredient for developing autonomous driving applications in urban scenarios. Recent image-based Deep Learning (DL) techniques are obtaining breakthrough results in these perceptive ...
    • Factor descent optimization for sparsification in graph SLAM 

      Vallvé Navarro, Joan; Solà Ortega, Joan; Andrade-Cetto, Juan (IEEE Press, 2017)
      Conference report
      Open Access
      In the context of graph-based simultaneous localization and mapping, node pruning consists in removing a subset of nodes from the graph, while keeping the graph’s information content as close as possible to the original. ...
    • Graph SLAM sparsification with populated topologies using factor descent optimization 

      Vallvé Navarro, Joan; Solà Ortega, Joan; Andrade-Cetto, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2018)
      Article
      Open Access
      Current solutions to the simultaneous localization and mapping (SLAM) problem approach it as the optimization of a graph of geometric constraints. Scalability is achieved by reducing the size of the graph, usually in two ...
    • High-frequency MAV state estimation using low-cost inertial and optical flow measurement units 

      Santamaria Navarro, Àngel; Solà Ortega, Joan; Andrade-Cetto, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2015)
      Conference report
      Open Access
      This paper develops a new method for 3D, high rate vehicle state estimation, specially designed for free-flying Micro Aerial Vehicles (MAVs). We fuse observations from inertial and optical flow low-cost measurement units, ...
    • High-speed event camera tracking 

      Chamorro Hernández, William Oswaldo; Andrade-Cetto, Juan; Solà Ortega, Joan (2020)
      Conference report
      Open Access
      Event cameras are bioinspired sensors with reaction times in the order of microseconds. This property makes them appealing for use in highly-dynamic computer vision applications. In this work, we explore the limits of this ...
    • Joint on-manifold self-calibration of odometry model and sensor extrinsics using pre-integration 

      Deray, Jeremie; Solà Ortega, Joan; Andrade-Cetto, Juan (2019)
      Conference report
      Open Access
      This paper describes a self-calibration procedure that jointly estimates the extrinsic parameters of an exteroceptive sensor able to observe ego-motion, and the intrinsic parameters of an odometry motion model, consisting ...
    • Low resolution lidar-based multi object tracking for driving applications 

      del Pino Bastida, Iván; Vaquero Gómez, Víctor; Massini, Beatrice; Solà Ortega, Joan; Moreno-Noguer, Francesc; Sanfeliu Cortés, Alberto; Andrade-Cetto, Juan (Springer, 2017)
      Conference report
      Open Access
      Vehicle detection and tracking in real scenarios are key com- ponents to develop assisted and autonomous driving systems. Lidar sen- sors are specially suitable for this task, as they bring robustness to harsh weather ...
    • Observability analysis and optimal sensor placement in stereo radar odometry 

      Corominas Murtra, Andreu; Vallvé Navarro, Joan; Solà Ortega, Joan; Flores Abad, Ismael; Andrade-Cetto, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2016)
      Conference report
      Open Access
      Localization is the key perceptual process closing the loop of autonomous navigation, allowing self-driving vehicles to operate in a deliberate way. To ensure robust localization, autonomous vehicles have to implement ...
    • Odometry estimation for aerial manipulation 

      Santamaria Navarro, Àngel; Solà Ortega, Joan; Andrade-Cetto, Juan (Springer, 2019)
      Part of book or chapter of book
      Open Access
      This chapter explains a fast and low-cost state localization estimation method for small-sized UAVs, that uses an IMU, a smart camera and an infrared time-of-flight range sensor that act as an odometer providing absolute ...
    • Parallax angle parametrization in incremental SLAM 

      Paiva Mendes, Ellon; Lacroix, Simon; Solà Ortega, Joan (Institute of Electrical and Electronics Engineers (IEEE), 2016)
      Conference report
      Open Access
      The lack of depth information in camera images has triggered much work on their use for localization and mapping in robotics. In particular, specific landmark parametrizations that isolate the unknown depth in one variable, ...
    • Pose-graph SLAM sparsification using factor descent 

      Vallvé Navarro, Joan; Solà Ortega, Joan; Andrade-Cetto, Juan (2019-09-01)
      Article
      Open Access
      Since state of the art simultaneous localization and mapping (SLAM) algorithms are not constant time, it is often necessary to reduce the problem size while keeping as much of the original graph’s information content. In ...
    • Quaternion kinematics for the error-state KF 

      Solà Ortega, Joan (2016)
      External research report
      Open Access
      A complete compendium of Quaternion formulas, with applications to Kalman filtering for visual-inertial navigation.
    • Technological advances for intelligent vehicles: shared control in highly complex contexts and the automation of transport in segregated environments 

      Villagra, Jorge; Vallvé Navarro, Joan; Medina Lee, Juan; Solà Ortega, Joan; Artuñedo, Antonio; Andrade-Cetto, Juan (Instituto de Carboquímica, 2020)
      Article
      Open Access
      To make autonomous driving a mass reality in cities there are still important technological barriers to be solved. It is therefore foreseeable that its implementation will be gradual, prioritising its appearance in operational ...
    • Timed-elastic smooth curve optimization for mobile-base motion planning 

      Deray, Jeremie; Magyar, Bence; Solà Ortega, Joan; Andrade-Cetto, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2019)
      Conference report
      Open Access
      This paper proposes the use of piecewise Cn smooth curve for mobile-base motion planning and control, coined Timed-Elastic Smooth Curve (TESC) planner. Based on a Timed-Elastic Band, the problem is defined so that the ...
    • Towards SLAM with an events-based camera 

      Clavera Gilaberte, Ignasi; Solà Ortega, Joan; Andrade-Cetto, Juan (2016)
      External research report
      Open Access
      Event-based cameras have an incredible potential in real-time and real-world robotics. They would enable more efficient algorithms in applications where high demanding requirements, such as rapid dynamic motion and high ...
    • Uncalibrated visual servo for unmanned aerial manipulation 

      Santamaria Navarro, Àngel; Grosch Obregon, Patrick John; Lippiello, Vincenzo; Solà Ortega, Joan; Andrade-Cetto, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2017-08-01)
      Article
      Open Access
      This paper addresses the problem of autonomous servoing an unmanned redundant aerial manipulator using computer vision. The overactuation of the system is exploited by means of a hierarchical control law, which allows to ...
    • Word ordering and document adjacency for large loop closure detection in 2D laser maps 

      Deray, Jeremie; Solà Ortega, Joan; Andrade-Cetto, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2017)
      Article
      Open Access
      We address in this paper the problem of loop closure detection for laser-based simultaneous localization and mapping (SLAM) of very large areas. Consistent with the state of the art, the map is encoded as a graph of poses, ...