Listar Ingeniería de Sistemas y Automática - (ISA) por centro "E.T.S.I. Informática"
Mostrando ítems 1-20 de 70
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A Configurable Smart E-Nose for Spatio-Temporal Olfactory Analysis
(2014-11-12)This paper describes a novel electronic nose (enose) aimed at applications that require knowing not only the gas composition and concentration, but also its temporal and spatial evolution. This is done by capturing ... -
A constant-time SLAM back-end in the continuum between global mapping and submapping: application to visual stereo SLAM
(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 multi-hierarchical symbolic model of the environment for improving mobile robot operation
(Servicio de Publicaciones y Divulgación Científica, 2015)El trabajo desarrollado en esta tesis se centra en el estudio y aplicación de estructuras multijerárquicas, que representan el entorno de un robot móvil, con el objetivo de mejorar su capacidad de realizar tareas complejas ... -
A predictive model for the maintenance of industrial machinery in the context of industry 4.0
(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 Primal-Dual Framework for Real-Time Dense RGB-D Scene Flow
(IEEE, 2015-05)This paper presents the first method to compute dense scene flow in real-time for RGB-D cameras. It is based on a variational formulation where brightness constancy and geometric consistency are imposed. Accounting for ... -
A Robotic Experiment Toward Understanding Human Gas-Source Localization Strategies
(2017-06-15)This paper describes an experiment for gas-source localization with a human-teleoperated mobile robot devised to gather data on how humans search for odor-sources. To that end, more than 150 repetitions of the search ... -
A semantic-based gas source localization with a mobile robot combining vision and chemical sensing.
(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 ... -
A Tighter Relaxation for the Relative Pose Problem Between Cameras
(Springer, 2022-04-06)This paper tackles the resolution of the Relative Pose problem with optimality guarantees by stating it as an optimization problem over the set of essential matrices that minimizes the squared epipolar error. We relax this ... -
Accurate Stereo Visual Odometry with Gamma Distributions
(IEEE, 2017)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 ... -
Advances in Gas Sensing and Mapping for Mobile Robotics
(Servicio de Publicaciones y Divulgación Científica, 2013)Esta tesis aborda el problema de la detección, cuantificación y mapeo de sustancias olorosas empleando un robot móvil equipado con una nariz electrónica. En robótica móvil se emplean los sistemas de muestreo abierto (Open ... -
An Analytical Solution to the IMU Initialization Problem for Visual-Inertial Systems.
(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 ... -
An assisted navigation method for telepresence robots
(2016)Telepresence robots have emerged as a new means of interaction in remote environments. However, the use of such robots is still limited due to safety and usability issues when operating in human-like environments. This ... -
Analyzing interference between RGB-D cameras for human motion tracking
(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
(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 ... -
Calibración extrínseca de un conjunto de cámaras RGB-D sobre un robot móvil
(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 ... -
Colección de jupyter notebooks para cursos de robótica móvil
(2019-09-13)Las expectativas de implantación de vehículos autónomos en nuestra sociedad (coches, UAVs, robots, etc.) está impulsando la demanda de profesionales en el campo de la robótica móvil. Dada la diversidad y complejidad de las ... -
Contributions to Localization, Mapping and Navigation in Mobile Robotics
(Servicio de Publicaciones y Divulgación Científica, 2009)This thesis focuses on the problem of enabling mobile robots to autonomously build world models of their environments and to employ them as a reference to self–localization and navigation. For mobile robots to become ... -
Convex Global 3D Registration with Lagrangian Duality
(IEEE, 2017)The registration of 3D models by a Euclidean transformation is a fundamental task at the core of many application in computer vision. This problem is non-convex due to the presence of rotational constraints, making traditional ... -
Creating maps of VOC odors in urban areas by cycling with a portable e-nose
(2015-01-26)This work describes an application for monitoring volatile organic compounds (VOCs) in urban areas, likely coming from residential waste or the public sewage system. The objective is to obtain a spatial and temporal ... -
DEM-AIA: Asymmetric inclination-aware trajectory planner for off-road vehicles with digital elevation models
(Elsevier, 2023)Planning safe and effective trajectories for off-road unmanned ground vehicles (UGV) is a critical Artificial Intelligence (AI) challenge that can benefit from recent advances in digital elevation models (DEM) for readily ...