Marta Salas

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Extracting 3D shape of deforming objects in monocular videos, a task known as non-rigid structure-from-motion (NRSfM), has so far been studied only on synthetic datasets and controlled environments. Typically, the objects to reconstruct are pre-segmented, they exhibit limited rotations and occlusions, or full-length trajectories are assumed. In order to(More)
—The vision of the RoboEarth project is to design a knowledge-based system to provide web and cloud services that can transform a simple robot into an intelligent one. In this work we describe the RoboEarth semantic mapping system. The semantic map is composed of (1) an ontology to code the concepts and relations in maps and objects, and (2) a SLAM map(More)
We present a real-time object-based SLAM system that leverages the largest object database to date. Our approach comprises two main components: 1) a monocular SLAM algorithm that exploits object rigidity constraints to improve the map and find its real scale, and 2) a novel object recognition algorithm based on bags of binary words, which provides live(More)
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