Elisabet Batlle

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This paper presents a novel technique to align partial 3D reconstructions of the seabed acquired by a stereo camera mounted on an autonomous underwater vehicle. Vehicle localization and seabed mapping is performed simultaneously by means of an Extended Kalman Filter. Passive landmarks are detected on the images and characterized considering 2D and 3D(More)
This paper proposes a new technique to reconstruct large 3D scenes from a sequence of video images by combining Bayesian filtering and state-of-art 3D computer vision. The approach performs the alignment of a sequence of 3D partial reconstructions of the seafloor thanks to the re-observations of passive landmarks by means of a linear Kalman filter-based(More)
We propose an algorithm for the on-line automatic registration of multiple 3D surfaces acquired in a sequence by a new hand-held laser scanner. The laser emitter is coupled with an optical lens that spreads the light forming 19 parallel slits that are projected to the scene and acquired with subpixel accuracy by a camera. Splines are used to interpolate the(More)
In recent years, 6 Degrees Of Freedom (DOF) Pose Estimation and 3D Mapping is becoming more important not only in the robotics community for applications such as robot navigation but also in computer vision for the registration of large surfaces such as buildings and statues. In both situations, the robot/camera position and orientation must be estimated in(More)
3D models are very important in many industrial and scientific applications. Most part of commercial sensors obtain only a partial acquisition of the object, so that a set of views are required to build a complete model of the object. Although the motion between these views is usually unknown, it can be computed by means of registration algorithms. A survey(More)
This paper proposes a design for complementary community currencies for education communities to boost cooperation of the more advanced students with the less advanced ones. Its design follows two goals: motivating students to learn by doing extra homework (effort) and share knowledge with younger students (tutoring), and shifting the role of teachers(More)