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Simultaneous localization and mapping (SLAM) consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications and witnessing a steady transition of this(More)
Experimental and molecular modeling studies are conducted to investigate the underlying mechanisms for the high solubility of CO2 in imidazolium-based ionic liquids. CO2 absorption isotherms at 10, 25, and 50 degrees C are reported for six different ionic liquids formed by pairing three different anions with two cations that differ only in the nature of the(More)
— Loop-closure detection on 3D data is a challenging task that has been commonly approached by adapting image-based solutions. Methods based on local features suffer from ambiguity and from robustness to environment changes while methods based on global features are viewpoint dependent. We propose SegMatch, a reliable loop-closure detection algorithm based(More)
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)
We report brain electrophysiological responses from 10- to 13-month-old Mexican infants while listening to native and foreign CV-syllable contrasts differing in Voice Onset Time (VOT). All infants showed normal auditory event-related potential (ERP) components. Our analyses showed ERP evidence that Mexican infants are capable of discriminating their native(More)
We propose a semantic scene understanding system that is suitable for real robotic operations. The system solves different tasks (semantic segmentation and object detections) in an opportunistic and distributed fashion but still allows communication between modules to improve their respective performances. We propose the use of the semantic space to improve(More)
In this paper, we present a monocular Direct and Semi-dense SLAM (Simultaneous Localization And Mapping) system for rolling shutter cameras. In a rolling shutter camera, the pose is different for each row of each image, and this yields poor pose estimates and poor structure estimates when using a state-of-the-art semi-dense direct method designed for global(More)