- RIUMA Principal
- Listar por autor
Listar por autor "Gómez-Ojeda, Rubén"
Mostrando ítems 1-9 de 9
-
Accurate Stereo Visual Odometry with Gamma Distributions
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 ... -
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 ... -
Geometric-based Line Segment Tracking for HDR Stereo Sequences
Gómez-Ojeda, Rubén; González-Jiménez, 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 ... -
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 ... -
Robust Stereo Visual Odometry through a Probabilistic Combination of Points and Line Segments
Gómez-Ojeda, Rubén; González-Jiménez, Antonio 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 ... -
Robust Visual SLAM in Challenging Environments with Low-texture and Dynamic Illumination
Gómez-Ojeda, Rubén (UMA Editorial, 2020)In the last years, visual Simultaneous Localization and Mapping (SLAM) has played a role of capital importance in rapid technological advances, e.g. mo- bile robotics and applications such as virtual, augmented, or mixed ... -
Stereo visual odometry by combining points and lines
Gómez-Ojeda, Rubén; González-Jiménez, Antonio Javier (2018-02-07)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 ... -
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 ...