Evaluation of Depth Sensors for Robotic Applications
- A. PintoP. CostaA. MoreiraLuís F. RochaG. VeigaEduardo Moreira
- 8 April 2015
Computer Science, Engineering
This paper compares the Kinect v1, Kinect v2, Structure Sensor and Mesa Imaging SR4000 to propose a simple but quantitative benchmark for evaluating 3D devices that characterizes the most relevant features for the robotic field and in accordance with different type of operations.
Robust Robot Localization Based on the Perfect Match Algorithm
- H. SobreiraM. PintoA. MoreiraP. CostaJosé Lima
- 2015
Engineering, Computer Science
This paper addresses the application and improvement of a well known localization algorithm used in Robocup Midsize league competition in real service and industrial robots with a new robust approach based on modeling the quality of several measures and minimizing the maching error.
Robot@Factory Lite: An Educational Approach for the Competition with Simulated and Real Environment
- João BraunL. A. Fernandes P. Costa
- 20 November 2019
Engineering, Computer Science
A competition of the Portuguese Robotics Open is addressed and a solution is proposed and the concepts of simulation, hardware-in-the-loop and timed finite state machine are presented and validated in the real robot prototype.
Indoor Localization System based on Artificial Landmarks and Monocular Vision
- Andry MaykolG. PintoA. MoreiraP. CostaAbstrak Makalah
- 1 December 2012
Computer Science, Engineering
A visual localization approach that is suitable for domestic and industrial environments as it enables accurate, reliable and robust pose estimation and increases the flexibility of the system by reducing the number of landmarks required.
New marker for real-time industrial robot programming by motion imitation
- Marcos FerreiraP. CostaLuís F. RochaA. MoreiraJ. Norberto Pires
- 1 May 2014
Computer Science, Engineering
A robust technique for camera and stereo calibration which maps camera coordinates directly into the desired robot frame, using a single LED is proposed.
2D Cloud Template Matching - A Comparison between Iterative Closest Point and Perfect Match
- H. SobreiraLuís F. RochaCarlos M. CostaJosé LimaP. CostaA. Moreira
- 1 May 2016
Computer Science, Engineering
Two of the most used map-matching algorithm, which are the Iterative Closest Point and the Perfect Match, are compared using an extensive collection of metrics, including accuracy, computational efficiency, convergence speed, maximum admissible initialization error and robustness to outliers in the robots sensors data.
Modeling and Simulation of a Hacked Neato XV-11 Laser Scanner
- D. CamposJoana SantosJ. GonçalvesP. Costa
- 2015
Computer Science, Engineering
The modeling and simulation of a hacked Neato XV-11 Laser Scanner allows its realistic simulation and provides valuable information that can promote the development of better designs of robot localization systems based on this sensor.
Hardware-in-the-loop simulation approach for the Robot at Factory Lite competition proposal
- José LimaP. CostaT. BritoLuis Piardi
- 1 April 2019
Engineering, Computer Science
2019 IEEE International Conference on Autonomous…
This paper addresses a new competition proposal, the Robot@Factory Lite, in the scope of the Portuguese Robotics Open, and proposes an Hardware-in-the-loop technique that allows to control the simulation with a real Arduino board.
Map-Matching Algorithms for Robot Self-Localization: A Comparison Between Perfect Match, Iterative Closest Point and Normal Distributions Transform
- H. SobreiraCarlos M. Costa A. P. Moreira
- 23 January 2018
Computer Science, Engineering
This paper added to PCL a new algorithm for performing correspondence estimation using lookup tables that was inspired by the PM approach to solve this problem and proved to be 40 to 60 times faster than the existing k-d tree approach in PCL and allowed the Iterative Closest Point algorithm to perform point cloud registration 5 to 9 times faster.
DIDACTIC EXPERIENCES INVOLVING MOBILE ROBOTICS HAVING MICROFACTORY AS CONTEXT
- Manuel SilvaJ. GonçalvesP. Costa
- 1 July 2016
Engineering, Computer Science
An analysis of MicroFactory is carried out and its potential for generating a diversified set of didactic experiences is evaluated, which will be possible to identify topics that can be taught and learned while developing robots to participate in the competition.
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