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There are several applications for which it is important to both detect and communicate changes in data models. For instance, in some mobile robotics applications (e.g. surveillance) a robot needs to detect significant changes in the environment (e.g. a layout change) which it may achieve by comparing current data provided by its sensors with previously(More)
This paper presents RoboComp, an open-source component-oriented robotics framework. Ease of use and low development effort has proven to be two of the key issues to take into account when building frameworks. Due to the crucial role of development tools in these questions , this paper deeply describes the tools that make RoboComp more than just a(More)
The ability to detect perceptions which were never experienced before, i.e. novelty detection, is an important component of autonomous robots working in real environments. It is achieved by comparing current data provided by its sensors with a previously known map of the environment. This often constitutes an extremely challenging task due to the large(More)
This paper describes an efficient method for retrieving the 3-dimensional shape associated to novelties in the environment of an autonomous robot, which is equipped with a laser range finder. First, changes are detected over the point clouds using a combination of the <i>Gaussian mixture model</i> (GMM) and the <i>earth mover's distance</i> (EMD)(More)
This paper presents a multi-sensor humanoid robotic head for human robot interaction. The design of the robotic head, Muecas, is based on ongoing research on the mechanisms of perception and imitation of human expressions and emotions. These mechanisms allow direct interaction between the robot and its human companion through the different natural language(More)
This paper presents a geometrical feature detection system to use with conventional 2D laser rangefinders. This system consists of three main modules: data acquisition and pre-processing, rupture and breakpoint detection and feature extraction. The novelty of this system is a new efficient approach for natural feature extraction based on curvature(More)
— The use of 3D laser range ſnder (LRF) and cameras is increasingly common in the navigation application for mobile robots. This paper proposes a new method to perform the extrinsic calibration between a pinhole camera and a 3D-LRF with the aid of an Inertial Measurement Unit (IMU). While state of the art calibration procedures require a large number of(More)
This work proposes a new feature detection and description approach for mobile robot navigation using 2D laser range sensors. The whole process consists of two main modules: a sensor data segmentation module and a feature detection and characterization module. The segmentation module is divided in two consecutive stages: First, the segmentation stage(More)
This paper proposes a method to solve the simultaneous localization and map building problem based on segments extracted from local sonar based occupation maps. These segments are categorized as new obstacle boundaries of a simultaneously built global segment-based map or as prolongations of previously extracted boundaries. The method is adequate for indoor(More)