Mônica da Silva Figueiredo

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The use of Autonomous Underwater Vehicles (AUVs) for underwater tasks is a promising robotic field. These robots can carry visual inspection cameras. Besides serving the activities of inspection and mapping, the captured images can also be used to aid navigation and localization of the robots. Visual odometry is the process of determining the position and(More)
The use of Autonomous Underwater Vehicles (AUVs) for underwater tasks is a promising robotic field. These robots can carry visual inspection cameras. Besides serving the activities of inspection and mapping, the captured images can also be used to aid navigation and localization of the robots. In this context, this paper proposes an approach to mapping of(More)
An important aspect in robotics is mapping environments, it means know free space configuration of the robot and establish landmarks. It enables the robot to calculate its position in the environment. In this context, this paper proposes a method for mapping generic environments (structured or not) based on topological maps (SOM and Growing Cell(More)
This paper proposes the use of topological maps in order to implement a SLAM approach, based on sensor fusion, to deal better with the problem of inaccuracy and uncertainty in sensor data. The contribution of this work is an algorithm that uses multiple sensory sources and multiple topological maps to improve the estimation of localization as generic as(More)
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