Now showing items 1-18 of 18

  • 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 ...
  • 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 ...
  • 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, ...
  • 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.
  • 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, ...