Conferences
Achieving Elementary Cycle Synchronization between Masters in the Flexible Time-Triggered Replicated Star for Ethernet
For a distributed embedded system (DES) to operate continuously in a dynamic environment, it must be flexible and highly reliable. This applies in particular to its communication subsystem. The Flexible Time-Triggered Replicated Star for Ethernet (FTTRS) aims at...
On the Use of Binary Feature Descriptors for Loop Closure Detection
We propose an appearance-based loop closure detection algorithm based on binary features and a Bag-of-Words scheme. Unlike other approaches that build the visual dictionary offline, we introduce an indexing method for binary features, which, in combination with an...
Indexing Invariant Features for Topological Mapping and Localization
We propose an appearance-based approach for topological visual mapping and localization using local invariant features. To optimize running times, matchings between the current image and previously visited places are determined using an index based on a set of...
LSH for Loop Closing Detection in Underwater Visual SLAM
Effectiveness in loop closing detection is crucial to increase accuracy in SLAM (Simultaneous Localization and Mapping) for mobile robots. The most representative approaches to visual loop closing detection are based on feature matching or BOW (Bag of Words), being...
Reducing the computational cost of underwater visual SLAM using dynamic adjustment of overlap detection
One-shot underwater 3D reconstruction
A one-shot sensor for underwater 3D reconstruction is presented and tested underwater in a water tank. The system is composed of a RGB CCD camera and a 532 nm green laser with a Diffractive Optical Element attached to it. The laser projects a pattern of parallel lines...