Listar por autor "Gomez-Ojeda, Ruben"
Mostrando ítems 1-7 de 7
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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 ... -
Calibración extrínseca de un conjunto de cámaras RGB-D sobre un robot móvil
Zúñiga-Noël, David; Gomez-Ojeda, Ruben; Moreno-Dueñas, Francisco Angel
; Gonzalez-Jimenez, 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 ... -
Geometric-based Line Segment Tracking for HDR Stereo Sequences
Gomez-Ojeda, Ruben; Gonzalez-Jimenez, Antonio Javier (2018-09-21)
In this work, we propose a purely geometrical approach for the robust matching of line segments for challenging stereo streams with severe illumination changes or High Dynamic Range (HDR) environments. To that purpose, we ... -
Robust Stereo Visual Odometry through a Probabilistic Combination of Points and Line Segments
Gomez-Ojeda, Ruben; Gonzalez-Jimenez, Antonio Javier (IEEE, 2016-05)
Most approaches to stereo visual odometry reconstruct the motion based on the tracking of point features along a sequence of images. However, in low-textured scenes it is often difficult to encounter a large set of point ... -
Robust Visual SLAM in Challenging Environments with Low-texture and Dynamic Illumination
(UMA Editorial, 2020)In the last years, visual Simultaneous Localization and Mapping (SLAM) has played a role of capital importance in rapid technological advances, e.g. mo- bile robotics and applications such as virtual, augmented, or mixed ... -
Stereo visual odometry by combining points and lines
Gomez-Ojeda, Ruben; Gonzalez-Jimenez, Antonio Javier (2018-02-07)
Most approaches to stereo visual odometry reconstruct the motion based on the tracking of point features along a sequence of images. However, in low-textured scenes it is often difficult to encounter a large set of point ... -
The UMA-VI dataset: Visual–inertial odometry in low-textured and dynamic illumination environments
Zúñiga-Noël, David; Jaenal, Alberto; Gomez-Ojeda, Ruben; Gonzalez-Jimenez, Antonio Javier (SAGE Journals, 2020-07-10)
This article presents a visual–inertial dataset gathered in indoor and outdoor scenarios with a handheld custom sensor rig, for over 80 min in total. The dataset contains hardware-synchronized data from a commercial stereo ...