Enviaments recents

  • Learning depth-aware deep representations for robotic perception 

    Porzi, Lorenzo; Rota Bulò, Samuel; Peñate Sánchez, Adrián; Ricci, Elisa; Moreno-Noguer, Francesc (Institute of Electrical and Electronics Engineers (IEEE), 2017)
    Article
    Accés obert
    Exploiting RGB-D data by means of Convolutional Neural Networks (CNNs) is at the core of a number of robotics applications, including object detection, scene semantic segmentation and grasping. Most existing approaches, ...
  • Closed-form position analysis of variable geometry trusses 

    Porta Pleite, Josep Maria; Thomas, Federico (2017-03-01)
    Article
    Accés obert
    Variable geometry trusses are composed, in general, of unit cells which can be modeled as bars connected by spherical joints. Under mild conditions, it has been shown that the only feasible cells are topologically equivalent ...
  • 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
    Accés obert
    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 ...
  • Boosted Random ferns for object detection 

    Villamizar Vergel, Michael Alejandro; Andrade-Cetto, Juan; Sanfeliu Cortés, Alberto; Moreno-Noguer, Francesc (2018-02-01)
    Article
    Accés obert
    In this paper we introduce the Boosted Random Ferns (BRFs) to rapidly build discriminative classifiers for learning and detecting object categories. At the core of our approach we use standard random ferns, but we introduce ...
  • New algebraic conditions for the identification of the relative position of two coplanar ellipses 

    Alberich Carramiñana, Maria; Elizalde, Borja; Thomas, Federico (2017-05-01)
    Article
    Accés restringit per política de l'editorial
    The identification of the relative position of two real coplanar ellipses can be reduced to the identification of the nature of the singular conics in the pencil they define and, in general, their location with respect to ...
  • TED: a tolerant edit distance for segmentation evaluation 

    Funke, Jan; Klein, J.; Moreno-Noguer, Francesc; Cardona, A.; Cook, Matthew (2017-02-15)
    Article
    Accés obert
    In this paper, we present a novel error measure to compare a computer-generated segmentation of images or volumes against ground truth. This measure, which we call Tolerant Edit Distance (TED), is motivated by two observations ...
  • A cognitive architecture for automatic gardening 

    Agostini, Alejandro Gabriel; Alenyà Ribas, Guillem; Fischbach, Andreas; Scharr, Hanno; Woergoetter, Florentin; Torras, Carme (2017-06-01)
    Article
    Accés obert
    In large industrial greenhouses, plants are usually treated following well established protocols for watering, nutrients, and shading/light. While this is practical for the automation of the process, it does not tap the ...
  • 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 (2017-12-11)
    Article
    Accés obert
    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 ...
  • Searching and tracking people in urban environments with static and dynamic obstacles 

    Goldhoorn, Alex; Garrell Zulueta, Anais; Alquézar Mancho, René; Sanfeliu Cortés, Alberto (2017-12-01)
    Article
    Accés obert
    Searching and tracking people in crowded urban areas where they can be occluded by static or dynamic obstacles is an important behavior for social robots which assist humans in urban outdoor environments. In this work, we ...
  • Nonlinear moving horizon estimator for online estimation of the density and viscosity of a mineral slurry 

    Diaz Castañeda, Jenny Lorena; Ocampo-Martínez, Carlos; Alvarez, Hernan (2017-12-13)
    Article
    Accés restringit per política de l'editorial
    This paper proposes a moving horizon estimator for nonlinear systems with unknown inputs, which do not comply with the model structures proposed in the literature for the design of nonlinear observers. The estimator is ...
  • Relational reinforcement learning for planning with exogenous effects 

    Martinez Martinez, David; Alenyà Ribas, Guillem; Ribeiro, Tony; Inoue, Katsumi; Torras, Carme (2017)
    Article
    Accés obert
    Probabilistic planners have improved recently to the point that they can solve difficult tasks with complex and expressive models. In contrast, learners cannot tackle yet the expressive models that planners do, which forces ...
  • Relational reinforcement learning with guided demonstrations 

    Martínez Martínez, David; Alenyà Ribas, Guillem; Torras, Carme (2017)
    Article
    Accés obert
    Model-based reinforcement learning is a powerful paradigm for learning tasks in robotics. However, in-depth exploration is usually required and the actions have to be known in advance. Thus, we propose a novel algorithm ...

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