• Collapsible Cubes: Removing Overhangs from 3D Point Clouds to Build Local Navigable Elevation Maps 

      Reina, Antonio; Martínez, Jorge L.; Mandow, Anthony; Morales, Jesús; Garcia-Cerezo, Alfonso J. (IEEE, 2014-07-11)
      Elevation maps offer a compact 2 1/2 dimensional model of terrain surface for navigation in field mobile robotics. However, building these maps from 3D raw point clouds con- taining overhangs, such as tree canopy or ...
    • Convex Global 3D Registration with Lagrangian Duality 

      Briales, Jesus; Gonzalez-Jimenez, Javier (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 ...
    • Coupled path and motion planning for a rover-manipulator system 

      Perez-del-Pulgar-Mancebo, Carlos Jesus; Sánchez Ibáñez, José Ricardo; Paz Delgado, Gonzalo Jesús; Romeo Manrique, Pablo; Azkarate, Martin (2019-06-17)
      This paper introduces a motion planning strategy aimed at the coordination of a rover and manipulator. The main purpose is to fetch samples of scientific interest that could be placed on difficult locations, requiring ...
    • Gas Source Localization Strategies for Teleoperated Mobile Robots. An Experimental Analysis 

      Gongora, Andres; Monroy, Javier; Gonzalez-Jimenez, Javier (2017)
      Gas source localization (GSL) is one of the most important and direct applications of a gas sensitive mobile robot, and consists in searching for one or multiple volatile emission sources with a mobile robot that has ...
    • 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 ...
    • Inertia-based ICR Kinematic Model for Tracked Skid-Steer Robots 

      Martínez, Jorge L.; Morales, Jesús; Mandow, Anthony; Pedraza, Salvador; García Cerezo, Alfonso (IEEE, 2017)
      Kinematic models for skid-steer vehicles based on the locations of instantaneous centers of rotation (ICRs) of treads have been useful for motion control and dead reckoning. These models have typically assumed constant ...
    • Initialization of 3D Pose Graph Optimization using Lagrangian duality 

      Briales, Jesus; Gonzalez Jimenez, Javier (IEEE, 2017-05)
      Pose Graph Optimization (PGO) is the de facto choice to solve the trajectory of an agent in Simultaneous Localization and Mapping (SLAM). The Maximum Likelihood Estimation (MLE) for PGO is a non-convex problem for which ...
    • Integrating Olfaction in a Robotic Telepresence Loop 

      Monroy, Javier; Melendez-Fernandez, Francisco; Gongora, Andres; Gonzalez-Jimenez, Javier (IEEE, 2017)
      In this work we propose enhancing a typical robotic telepresence architecture by considering olfactory and wind flow information in addition to the common audio and video channels. The objective is to expand the range of ...
    • Integration of a Canine Agent in a Wireless Sensor Network for Information Gathering in Search and Rescue Missions 

      Fernández-Lozano, Juan Jesús; Mandow, Anthony; Martín-Guzmán, Miguel; Martín-Ávila, Juan; Gomez-Ruiz, Jose Antonio; [et al.] (2018-10-15)
      Search and rescue operations in the context of emergency response to human or natural disasters have the major goal of finding potential victims in the shortest possible time. Multi-agent teams, which can include specialized ...
    • Motion Cooperation: Smooth Piece-Wise Rigid Scene Flow from RGB-D Images 

      Jaimez, Mariano; Souiai, Mohamed; Stuckler, Jorg; Gonzalez-Jimenez, Javier; Cremers, Daniel (2016-01-07)
      We propose a novel joint registration and segmentation approach to estimate scene flow from RGB-D images. Instead of assuming the scene to be composed of a number of independent rigidly-moving parts, we use non-binary ...
    • Online Estimation of 2D Wind Maps for Olfactory Robots 

      Monroy, Javier G.; Jaimez, Mariano; González-Jiménez, Javier (2017-06-15)
      This work introduces a novel solution to approximate in real time the 2D wind flow present in a geometrically known environment. It is grounded on the probabilistic framework provided by a Markov random field and enables ...
    • Planar Odometry from a Radial Laser Scanner. A Range Flow-based Approach 

      Jaimez, Mariano; G. Monroy, Javier; Gonzalez Jimenez, Javier (IEEE, 2016)
      In this paper we present a fast and precise method to estimate the planar motion of a lidar from consecutive range scans. For every scanned point we formulate the range flow constraint equation in terms of the sensor ...
    • Real-Time odor classification through sequential bayesian filtering 

      Monroy, Javier G.; González-Jiménez, Javier (2015-07-08)
      The classification of volatiles substances with an e-nose is still a challenging problem, particularly when working under real-time, out-of-the-lab environmental conditions where the chaotic and highly dynamic characteristics ...
    • Robust Stereo Visual Odometry through a Probabilistic Combination of Points and Line Segments 

      Gómez-Ojeda, Rubén; González-Jiménez, 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 ...
    • Tutorial para el reconocimiento de objetos basado en características empleando herramientas Phyton 

      Ruiz Sarmiento, José Raúl; Moreno Dueñas, Francisco Ángel; González Monroy, Javier; Gonzalez-Jimenez, Antonio Javier (2018-09-21)
      El reconocimiento de objetos es algo innato en el ser humano. Cuando las personas miramos una fotografía, somos capaces de detectar sin esfuerzo elementos como animales, señales, objetos de interés, etc. En el campo de la ...