Alejandro Rituerto

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An important part of current research on appearance based mapping goes towards richer semantic representations of the environment, which may allow autonomous systems to perform higher level tasks and provide better human-robot interaction. This work presents a new omnidirectional vision based scene labeling approach for augmented indoor topological mapping.(More)
— The SLAM (Simultaneous Localization and Mapping) problem is one of the essentials challenges for the current robotics. Our main objective in this work is to perform a comparison between a visual SLAM system using monocular omnidirectional and conventional vision. Our approach is based on the Extended Kalman Filter (EKF). We use the Spherical Camera Model(More)
The SLAM (Simultaneous Localization and Mapping) problem is one of the essential challenges for the current robotics. Our main objective in this work is to develop a real-time visual SLAM system using monocular omnidi-rectional vision. Our approach is based on the Extended Kalman Filter (EKF). We use the Spherical Camera Model to obtain geometric(More)
Autonomous navigation and recognition of the environment are fundamental abilities for people extensively studied in computer vision and robotics fields. Expansion of low cost wearable sensing provides interesting opportunities for assistance systems that augment people navigation and recognition capabilities. This work presents our wearable omnidirectional(More)
Wearable computer vision systems provide plenty of opportunities to develop human assistive devices. This work contributes on visual scene understanding techniques using a helmet-mounted omnidirectional vision system. The goal is to extract semantic information of the environment, such as the type of environment being traversed or the basic 3D layout of the(More)
Intelligent autonomous systems need complex and detailed models of their environment to achieve sophisticated tasks. Vision sensors provide rich information and are broadly used to obtain or improve these models. The particular case of indoor scene understanding from monocular images has been widely studied, and a common initial step to solve this problem(More)
Navigation is a challenging task for many travelers with visual impairments. While a variety of GPS-enabled tools can provide wayfinding assistance in outdoor settings, GPS provides no useful localization information indoors. A variety of indoor navigation tools are being developed, but most of them require potentially costly physical infrastructure to be(More)
Mobile robots are of great help for automatic monitoring tasks in different environments. One of the first tasks that needs to be addressed when creating these kinds of robotic systems is modeling the robot environment. This work proposes a pipeline to build an enhanced visual model of a robot environment indoors. Vision based recognition approaches(More)
  • Alejandro Rituerto, Sin Directores, José Jesús, Guerrero Campo, Ana Cristina, Murillo Arnal +1 other
  • 2014
4 Augmented topological map with semantic labels of indoor scenes 15 4. Abstract-Current research on appearance based mapping goes towards richer semantic models of the environment, which may allow the robots to perform higher level tasks and provide better human-robot interaction. This work presents a new omnidirectional vision based approach for augmented(More)