Contributions to metric-topological localization and mapping in mobile robotics

Autor: Eduardo Fernandez-Moral

Publikováno v: ELCVIA Electronic Letters on Computer Vision and Image Analysis, Vol 14, Iss 3 (2015)

This thesis addresses the problem of localization and mapping in mobile robotics. The ability of a robot to build a map of an unknown environment from sensory information is required to perform self-localization and autonomous navigation, as a necess

Externí odkaz: https://doaj.org/article/5f7a92b77cfb4dc198294d05395cf761

Extrinsic Calibration of Multiple RGB-D Cameras From Line Observations

Autor: Gonzalo López-Nicolás, Alejandro Perez-Yus, Eduardo Fernandez-Moral, José Jesús Guerrero, Patrick Rives

Publikováno v: IEEE Robotics and Automation Letters
IEEE Robotics and Automation Letters, 2018, 3 (1), pp.273-280. ⟨10.1109/LRA.2017.2739104⟩
Zaguán. Repositorio Digital de la Universidad de Zaragoza
instname
IEEE Robotics and Automation Letters, IEEE 2018, 3 (1), pp.273-280. ⟨10.1109/LRA.2017.2739104⟩
IEEE Robotics and Automation Letters, IEEE 2018, 3 (1), pp.273-280. 〈10.1109/LRA.2017.2739104〉

This letter presents a novel method to estimate the relative poses between RGB and depth cameras without the requirement of an overlapping field of view, thus providing flexibility to calibrate a variety of sensor configurations. This calibration pro

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::0b840ce9e3de910e43e955a07bb205be
https://hal.inria.fr/hal-01581523

An Efficient Rotation and Translation Decoupled Initialization from Large Field of View Depth Images

Autor: Patrick Rives, Renato Martins, Eduardo Fernandez-Moral

Publikováno v: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'17
IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'17, Sep 2017, Vancouver, Canada. pp.5750-5755
IROS

International audience; Image and point cloud registration methods compute the relative pose between two images. Commonly used registration algorithms are iterative and rely on the assumption that the motion between the images is small. In this work,

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::c6d1c655c27813404f0e9670daae2815
https://hal.inria.fr/hal-01581524/file/iros17_CR.pdf

Dense Accurate Urban Mapping from Spherical RGB-D Images

Autor: Eduardo Fernandez-Moral, Renato Martins, Patrick Rives

Publikováno v: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'15
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'15, Sep 2015, Hamburg, Germany
IROS

International audience; — This paper presents a methodology to combine information from a sequence of RGB-D spherical views acquired by a home-made multi-stereo device in order to improve the computed depth images both in terms of accuracy and comp

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::603197072237708aeb5641eb1035efdc
https://hal.inria.fr/hal-01237848

Extrinsic calibration of a set of 2D laser rangefinders

Autor: Eduardo Fernandez-Moral, Javier Gonzalez-Jimenez, V. Arevalo

Publikováno v: ICRA

The integration of several 2D laser rangefinders in a vehicle is a common resource employed for 3D mapping, obstacle detection and navigation. The extrinsic calibration between such sensors (i.e. finding their relative poses) is required to exploit e

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::a19f1e5bdf5db32ea9c3b0603254949f
https://doi.org/10.1109/icra.2015.7139475