18 citations · 28 across the 20 of their papers we have counts for
11 papers · 1 filter
An observer cascade for velocity and multiple line estimation
André Mateus, Pedro U. Lima, Pedro Miraldo
Previous incremental estimation methods consider estimating a single line, requiring as many observers as the number of lines to be mapped. This leads to the need for having at lea…
On Incremental Structure-from-Motion using Lines
André Mateus, Omar Tahri, A. Pedro Aguiar +2
Humans tend to build environments with structure, which consists of mainly planar surfaces. From the intersection of planar surfaces arise straight lines. Lines have more degrees-o…
Active Depth Estimation: Stability Analysis and its Applications
Romulo T. Rodrigues, Pedro Miraldo, Dimos V. Dimarogonas +1
Recovering the 3D structure of the surrounding environment is an essential task in any vision-controlled Structure-from-Motion (SfM) scheme. This paper focuses on the theoretical p…
A Framework for Depth Estimation and Relative Localization of Ground Robots using Computer Vision
Romulo T. Rodrigues, Pedro Miraldo, Dimos V. Dimarogonas +1
The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among mu…
Active Estimation of 3D Lines in Spherical Coordinates
André Mateus, Omar Tahri, Pedro Miraldo
Straight lines are common features in human made environments, which makes them a frequently explored feature for control applications. Many control schemes, like Visual Servoing,…
Active Structure-from-Motion for 3D Straight Lines
André Mateus, Omar Tahri, Pedro Miraldo
A reliable estimation of 3D parameters is a must for several applications like planning and control. Included in the latter is the Image-Based Visual Servoing, whose control scheme…
Low-level Active Visual Navigation: Increasing robustness of vision-based localization using potential fields
Romulo T. Rodrigues, Meysam Basiri, A. Pedro Aguiar +1
This paper proposes a low-level visual navigation algorithm to improve visual localization of a mobile robot. The algorithm, based on artificial potential fields, associates each f…
Feature Based Potential Field for Low-level Active Visual Navigation
Rômulo T. Rodrigues, Meysam Basiri, A. Pedro Aguiar +1
This paper proposes a novel solution for improving visual localization in an active fashion. The solution, based on artificial potential field, associates each feature in the curre…
Non-Central Catadioptric Cameras Pose Estimation using 3D Lines
Andre Mateus, Pedro Miraldo, Pedro U. Lima
In this article we purpose a novel method for planar pose estimation of mobile robots. This method is based on an analytic solution (which we derived) for the projection of 3D stra…
Efficient and Robust Pedestrian Detection using Deep Learning for Human-Aware Navigation
Andre Mateus, David Ribeiro, Pedro Miraldo +1
This paper addresses the problem of Human-Aware Navigation (HAN), using multi camera sensors to implement a vision-based person tracking system. The main contributions of this pape…
A Real-Time Deep Learning Pedestrian Detector for Robot Navigation
David Ribeiro, Andre Mateus, Pedro Miraldo +1
A real-time Deep Learning based method for Pedestrian Detection (PD) is applied to the Human-Aware robot navigation problem. The pedestrian detector combines the Aggregate Channel…