César Cadena

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In this paper we show how to carry out robust place recognition using both near and far information provided by a stereo camera. Visual appearance is known to be very useful in place recognition tasks. In recent years, it has been shown that taking geometric information also into account further improves system robustness. Stereo visual systems provide 3D(More)
— While graph-based representations allow an efficient solution to the SLAM problem posing it as a non-linear least squares optimization, they require additional methods to detect and eliminate outliers. It is necessary to obtain the correct structure of the graph representing the SLAM problem which is topologically correct and will lead to a metric correct(More)
The MIT Faculty has made this article openly available. Please share how this access benefits you. Your story matters. Abstract This paper describes a system for performing real-time multi-session visual mapping in large-scale environments. Multi-session mapping considers the problem of combining the results of multiple simultaneous localisation and mapping(More)
Three qualitative respirator fit tests were evaluated for their ability to adequately measure respiratory protection. The evaluated methods were the negative pressure test, the isoamyl acetate test, and the irritant smoke test. Each test was performed concurrently with a single quantitative fit test, the dioctylphthalate (DOP) test, during 274 half-mask and(More)
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