Rafael Sanz

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Mobile robots operating in the real world need very reliable navigation capabilities to operate autonomously for long periods of time. However, it is almost impossible to specify in advance all the possible anomalous situations the navigation system can encounter, especially given noisy and imprecise sensor information and a dynamic and partially known(More)
— In this paper we present a novel approach to global localization using an RGB-D camera in maps of visual features. For large maps, the performance of pure image matching techniques decays in terms of robustness and computational cost. Particularly, repeated occurrences of similar features due to repeating structure in the world (e.g., doorways, chairs,(More)
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