Pedro Miraldo

Learn More
Generic imaging models can be used to represent any camera. Current generic models are discrete and define a mapping between each pixel in the image and a straight line in 3D space. This paper presents a modification of the generic camera model that allows the simplification of the calibration procedure. The only requirement is that the coordinates of the(More)
Scientific experiments and robotic competitions share some common traits that can put the debate about developing better experimental methodologies and replicability of results in robotics research on more solid ground. In this context, the Robot Competitions Kick Innovation in Cognitive Systems and Robotics (RoCKIn) project aims to develop competitions(More)
In this article, we address the pose estimation for planar motion under the framework of generalized camera models. We assume the knowledge of the coordinates of 3D straight lines in the world coordinate system. Pose is estimated using the images of the 3D lines. This approach does not require the determination of correspondences between pixels and 3D world(More)
In this paper, we address the problem of pose estimation under the framework of generalized camera models. We propose a solution based on the knowledge of the coordinates of 3-D straight lines (expressed in the world coordinate frame) and their corresponding image pixels. Previous approaches used the knowledge of the coordinates of 3-D points (zero(More)
Generic imaging models can be used to represent any camera. These models are specially suited for non-central cameras for which closed-form models do not exist. Current models are discrete and define a mapping between each pixel in the image and a straight line in 3D space. Due to difficulties in the calibration procedure and model complexity these methods(More)
In this article we address the problem of minimal pose under the framework of the generalized camera models. Previous approaches were based on geometric properties, such as the preservation of distance between points. In this paper we propose a novel formulation of the problem using an algebraic-based approach. We represent the pose by a 3×3 matrix.(More)
—This paper addresses the problem of Human-Aware Navigation (HAN), using multi camera sensors to implement a vision-based person tracking system. The main contributions of this paper are a novel and real-time Deep Learning person detection and a standardization of personal space, that can be used with any path planer. In the first stage of the approach, we(More)
Pose estimation is a relevant problem for imaging systems whose applications range from augmented reality to robotics. In this paper we propose a novel solution for the minimal pose problem, within the framework of generalized camera models and using a planar homography. Within this framework and considering only the geometric elements of the generalized(More)