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Listar por autor "Zúñiga-Noël, David"
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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 ... -
Automatic Multi-Sensor Extrinsic Calibration For Mobile Robots.
Zúñiga-Noël, David; Ruiz-Sarmiento, José Raúl; Gómez-Ojeda, Rubén; González-Jiménez, Antonio Javier (IEEE, 2019-06-12)In order to fuse measurements from multiple sensors mounted on a mobile robot, it is needed to express them in a common reference system through their relative spatial transformations. In this paper, we present a method ... -
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 ... -
Detección de Lugares con Camaras RGB-D. Aplicación a Cierre de Bucles en SLAM
Zúñiga-Noël, David; Ruiz-Sarmiento, José Raúl; González-Jiménez, Antonio Javier (Actas de las Jornadas de Automatica 2016, 2016)En este trabajo se propone un método que combina descriptores de imágenes de intensidad y de profundidad para detectar de manera robusta el problema de cierre de bucle en SLAM. La robustez del método, proporcionada por el ... -
Intrinsic calibration of depth cameras for mobile robots using a radial laser scanner
Depth cameras, typically in RGB-D configurations, are common devices in mobile robotic platforms given their appealing features: high frequency and resolution, low price and power requirements, among others. These sensors ... -
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 ... -
SLAM visual con cámaras RGB-D basado en optimización de grafo de poses
Zúñiga-Noël, David (2017-01-11)En este trabajo abordamos el problema de localización y mapeo simultáneo (SLAM) utilizando únicamente información obtenida mediante una cámara RGB-D. El objetivo principal es desarrollar un sistema SLAM capaz de estimar ... -
The UMA-VI dataset: Visual–inertial odometry in low-textured and dynamic illumination environments
Zúñiga-Noël, David; Jaenal, Alberto; Gómez-Ojeda, Rubén; González-Jiménez, 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 ...