• Accurate Stereo Visual Odometry with Gamma Distributions 

      Gomez-Ojeda, Ruben; Moreno, Francisco-Angel; Gonzalez-Jimenez, Antonio Javier (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 ...
    • Calibración extrínseca de un conjunto de cámaras RGB-D sobre un robot móvil 

      Zúñiga-Noël, David; Gomez-Ojeda, Ruben; Moreno, Francisco-Angel; Gonzalez-Jimenez, 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 

      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 ...
    • Robust Stereo Visual Odometry through a Probabilistic Combination of Points and Line Segments 

      Gomez-Ojeda, Ruben; Gonzalez-Jimenez, 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 

      Gomez-Ojeda, Ruben (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 

      Gomez-Ojeda, Ruben; Gonzalez-Jimenez, 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 ...