Miguel Bernal-Marin

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This paper describes a new approach for building 3D geometric maps using a laser rangefinder, a stereo camera system and a mathematical system the Conformal Geometric Algebra. The use of a known visual landmarks in the map helps to carry out a good localization of the robot. These landmarks are found using the Viola and Jones algorithm and are represented(More)
This paper describes a new approach for building 3D geometric maps using a geometric line and plane detector together with laser range finder and a stereo camera system. This detector is developed in such a way that one can related easily it with the conformal geometric algebra framework, thus detected lines and planes can be used for algebra of incidence(More)
0167-8655/$ see front matter 2011 Elsevier B.V. A doi:10.1016/j.patrec.2011.05.014 ⇑ Corresponding author. E-mail addresses: mbernal@gdl.cinvestav.mx (M cinvestav.mx (E. Bayro-Corrochano). This paper presents the application of 2D and 3D Hough Transforms together with conformal geometric algebra to build 3D geometric maps using the geometric entities of(More)
In this article, we propose a conformal model for 3D visual perception. In our model, the two views are fused in an extended 3D horopter model. For visual simultaneous localization and mapping (SLAM), an extended Kalman filter (EKF) technique is used for 3D reconstruction and determination of the robot head pose. In addition, the Viola and Jones(More)
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