ABSTRACT This work presents an appearance-based approach to route following in multi-robot system... more ABSTRACT This work presents an appearance-based approach to route following in multi-robot systems, using the information captured by a conventional forward-looking camera. In the teaching phase, the most relevant information along the route is stored using incremental Principal Components Analysis (PCA), what means that the follower robot can begin the route while the leader is still recording it. The follower robot makes an auto-localization process, comparing the current view with the information stored in the database, using a probabilistic approach. Then, a fuzzy controller is in charge of calculating the speed and turning to follow the route. Experimental results have shown the robustness of the algorithms in an office environment.
Engineering Applications of Artificial Intelligence, 2015
ABSTRACT In this paper, we present a SLAM approach that builds global occupancy-grid maps using l... more ABSTRACT In this paper, we present a SLAM approach that builds global occupancy-grid maps using laser range data. The method consists of two basic algorithms: a process of finding correspondences and alignments between local sub-maps and a high level optimization algorithm that aligns and builds a global map. The main novelty of the paper is the use of a visual description of the local sub-maps. We propose to use visual features to easy the search of correspondences between different sub-maps. The association of features between different maps gives us transformations between the different key maps. Afterwards, a graph is built using the reference frames as the vertexes and the transformation between key-maps are the edges. Stochastic Gradient Descent (SGD) is next employed to compute a global map. The results show the validity of the proposed algorithm in terms of precision and robustness.
Advances in Intelligent Systems and Computing, 2014
In this work we present a comparison of different methods for topological height estimation appli... more In this work we present a comparison of different methods for topological height estimation applicable in UAVs navigation tasks using omnidirectional images. We take profit of the camera calibration information in oder to obtain different projections of the visual information from the omnidirectional images. The descriptors used to collect the visual information are based on the global appearance of the scenes. We test the algorithms using a real and dealing database.
ABSTRACT This work presents an appearance-based approach to route following in multi-robot system... more ABSTRACT This work presents an appearance-based approach to route following in multi-robot systems, using the information captured by a conventional forward-looking camera. In the teaching phase, the most relevant information along the route is stored using incremental Principal Components Analysis (PCA), what means that the follower robot can begin the route while the leader is still recording it. The follower robot makes an auto-localization process, comparing the current view with the information stored in the database, using a probabilistic approach. Then, a fuzzy controller is in charge of calculating the speed and turning to follow the route. Experimental results have shown the robustness of the algorithms in an office environment.
Engineering Applications of Artificial Intelligence, 2015
ABSTRACT In this paper, we present a SLAM approach that builds global occupancy-grid maps using l... more ABSTRACT In this paper, we present a SLAM approach that builds global occupancy-grid maps using laser range data. The method consists of two basic algorithms: a process of finding correspondences and alignments between local sub-maps and a high level optimization algorithm that aligns and builds a global map. The main novelty of the paper is the use of a visual description of the local sub-maps. We propose to use visual features to easy the search of correspondences between different sub-maps. The association of features between different maps gives us transformations between the different key maps. Afterwards, a graph is built using the reference frames as the vertexes and the transformation between key-maps are the edges. Stochastic Gradient Descent (SGD) is next employed to compute a global map. The results show the validity of the proposed algorithm in terms of precision and robustness.
Advances in Intelligent Systems and Computing, 2014
In this work we present a comparison of different methods for topological height estimation appli... more In this work we present a comparison of different methods for topological height estimation applicable in UAVs navigation tasks using omnidirectional images. We take profit of the camera calibration information in oder to obtain different projections of the visual information from the omnidirectional images. The descriptors used to collect the visual information are based on the global appearance of the scenes. We test the algorithms using a real and dealing database.
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Papers by Miguel Júlia