Listar por autor "Moreno-Dueñas, Francisco Ángel"
Mostrando ítems 1-20 de 24
-
A constant-time SLAM back-end in the continuum between global mapping and submapping: application to visual stereo SLAM
Moreno-Dueñas, Francisco Ángel
; Blanco, Jose-Luis; González-Jiménez, Antonio Javier (Sage Publications, 2016-07-11)
This work addresses the development and application of a novel approach, called sparser relative bundle adjustment (SRBA), which exploits the inherent flexibility of the relative bundle adjustment (RBA) framework to devise ... -
A predictive model for the maintenance of industrial machinery in the context of industry 4.0
Ruiz-Sarmiento, José Raúl; González-Monroy, Javier; Moreno-Dueñas, Francisco Ángel; Galindo-Andrades, Cipriano; Bonelo, Jose-Maria; González-Jiménez, Antonio Javier[et al.] (Elsevier, 2020-01)
The Industry 4.0 paradigm is being increasingly adopted in the production, distribution and commercialization chains worldwide. The integration of the cutting-edge techniques behind it entails a deep and complex revolution ... -
A semantic-based gas source localization with a mobile robot combining vision and chemical sensing.
González-Monroy, Javier; Ruiz-Sarmiento, José Raúl; Moreno-Dueñas, Francisco Ángel; Meléndez-Fernández, Francisco; Galindo-Andrades, Cipriano; González-Jiménez, Antonio Javier[et al.] (MDPI, 2018-11-28)
This paper addresses the localization of a gas emission source within a real-world human environment with a mobile robot. Our approach is based on an efficient and coherent system that fuses different sensor modalities ... -
Accurate Stereo Visual Odometry with Gamma Distributions
Point-based stereo visual odometry systems typically estimate the camera motion by minimizing a cost function of the projection residuals between consecutive frames. Under some mild assumptions, such minimization is ... -
An Analytical Solution to the IMU Initialization Problem for Visual-Inertial Systems.
Zúñiga-Noël, David; Moreno-Dueñas, Francisco Ángel; González-Jiménez, Antonio Javier (IEEE, 2021-06-22)
The fusion of visual and inertial measurements is becoming more and more popular in the robotics community since both sources of information complement each other well. However, in order to perform this fusion, the biases ... -
Analyzing interference between RGB-D cameras for human motion tracking
Moreno-Dueñas, Francisco Ángel; Ruiz-Sarmiento, José Raúl; González-Monroy, Javier; Fernandez, Mailys; González-Jiménez, Antonio Javier (2018-01-23)
Multi-camera RGB-D systems are becoming popular as sensor setups in Computer Vision applications but they are prone to cause interference between them, compromising their accuracy. This paper extends previous works on the ... -
Automatic Waypoint generation to improve robot navigation through narrow spaces
Moreno-Dueñas, Francisco Ángel; González-Monroy, Javier; Ruiz-Sarmiento, José Raúl; Galindo-Andrades, Cipriano; González-Jiménez, Antonio Javier (MDPI, 2019-12)
In domestic robotics, passing through narrow areas becomes critical for safe and effective robot navigation. Due to factors like sensor noise or miscalibration, even if the free space is sufficient for the robot to pass ... -
Automatización de lecturas NFC con un manipulador de 5 grados de libertad : aplicación a robótica de servicios.
(2023)El proyecto consiste en la automatización de la lecturas NFC utilizando un manipulador de 5 grados de libertad. Se utilizará una pinza impresa en 3D con un módulo de lectura y escritura NFC para interactuar con etiquetas ... -
Calibración extrínseca de un conjunto de cámaras RGB-D sobre un robot móvil
Zúñiga-Noël, David; Gómez-Ojeda, Rubén; Moreno-Dueñas, Francisco Ángel; González-Jiménez, Antonio Javier (Universidad de Oviedo, 2017)
La aparición de las cáqmaras RGB-D como sensores robóticos de bajo coste ha supuesto la inclusión habitual de varios de estos dispositivos en una creciente cantidad de vehiculos y robots. En estos casos, la calibraci on ... -
Dimensionality Reduction in images for Appearance-based camera Localization
Luengo, Silvia; Jaenal, Alberto; Moreno-Dueñas, Francisco Ángel; González-Jiménez, Antonio Javier (XLIII Jornadas de Automática, 2022-09-07)
Appearance-based Localization (AL) focuses on estimating the pose of a camera from the information encoded in an image, treated holistically. However, the high-dimensionality of images makes this estimation intractable and ... -
Enhancing smart environments with mobile robots
Sensor networks are becoming popular nowadays in the development of smart environments. Heavily relying on static sensor and actuators, though, such environments usually lacks of versatility regarding the provided services ... -
Experimental Analysis of Appearance Maps as Descriptor Manifolds Approximations
Jaenal, Alberto; Moreno-Dueñas, Francisco Ángel; González-Jiménez, Antonio Javier (Springer, 2021-10-31)
Images of a given environment, coded by a holistic image descriptor, produce a manifold that is articulated by the camera pose in such environment. The correct articulation of such Descriptor Manifold (DM) by the camera ... -
Human motion capture for movement limitation analysis using an RGB-D camera in spondyloarthritis: a validation study
Trinidad Fernández, Manuel; Cuesta-Vargas, Antonio; Vaes, Peter; Beckwée, David; Moreno-Dueñas, Francisco Ángel; González Jiménez, Javier; Fernández-Nebro, Antonio; Manrique-Arija, Sara; Ureña-Garnica, Inmaculada; González-Sánchez, Manuel[et al.] (SPRINGER, 2021-09-01)
A human motion capture system using an RGB-D camera could be a good option to understand the trunk limitations in spondyloarthritis. The aim of this study is to validate a human motion capture system using an RGB-D camera ... -
Improvement of the sensory and autonomous capability of robots through olfaction: the IRO Project
González-Monroy, Javier; Ruiz-Sarmiento, José Raúl; Moreno-Dueñas, Francisco Ángel; Galindo-Andrades, Cipriano; González-Jiménez, Antonio Javier (2019-06-03)
Olfaction is a valuable source of information about the environment that has not been su ciently exploited in mobile robotics yet. Certainly, odor information can contribute to other sensing modalities, e.g. vision, to ... -
Integración de un Planificador de Trayectorias Parametrizado en la Arquitectura Robótica ROS
Rueda-Castro, Mario A.; González-Monroy, Javier; Moreno-Dueñas, Francisco Ángel; González-Jiménez, Antonio Javier (2019-09-13)
En este trabajo se presenta la integración de un nuevo planificador reactivo de movimiento dentro de la arquitectura robótica ROS. Este planificador, desarrollado originalmente como parte de la librería MRPT y basado en ... -
Ontology-based conditional random fields for object recognition.
Ruiz-Sarmiento, José Raúl; Galindo-Andrades, Cipriano; González-Monroy, Javier; Moreno-Dueñas, Francisco Ángel; González-Jiménez, Antonio Javier (Elsevier, 2019)
Object recognition is a cornerstone task in autonomous and/or assistance systems like robots, autonomous vehicles, or those assisting to visually impaired, aiming to achieve a certain level of understanding of their ... -
PL-SLAM: a stereo SLAM system through the combination of points and line segments
Gómez-Ojeda, Rubén; Zúñiga-Noël, David; Moreno-Dueñas, Francisco Ángel; Scaramuzza, Davide; González-Jiménez, Antonio Javier (IEEE, 2019-04)
Traditional approaches to stereo visual simultaneous localization and mapping (SLAM) rely on point features to estimate the camera trajectory and build a map of the environment. In low-textured environments, though, it is ... -
Sequential Monte Carlo localization in topometric appearance maps.
Jaenal, Alberto; Moreno-Dueñas, Francisco Ángel; González-Jiménez, Antonio Javier (Sage, 2023-09-05)
Representing the scene appearance by a global image descriptor (BoW, NetVLAD, etc.) is a widely adopted choice to address Visual Place Recognition (VPR). The main reasons are that appearance descriptors can be effectively ... -
Sistema de monitorización domótico asistido por robot móvil.
(2023)Con el avance de las nuevas tecnologías, la ciencia ficción está dejando poco a poco de ser ficción, destacando la robótica como uno de los campos que más ha avanzado y que más se acerca a parecerse al concepto que se creó ... -
Sistema para la monitorización y asistencia en el hogar usando Openhab y robótica móvil
(2017-02-10)Este trabajo está enfocado a la creación de un sistema informático, robótico y automático con el que podamos actuar en un entorno, por ejemplo, una casa, dependiendo de la lectura que realicemos de los diferentes dispositivos ...