Conferences
Probabilistic Appearance-Based Mapping and Localization Using Visual Features
An appearance-based approach for visual mapping and localization is proposed in this paper. On the one hand, a new image similarity measure between images based on number of matchings and their associated distances is introduced. On the other hand, to optimize running...
Grid-Based Spatial Keypoint Selection for Real Time Visual Odometry
Robotic systems can achieve real-time visual odometry by extracting a fixed number of invariant keypoints from the current camera frame, matching them against keypoints from a previous frame, and calculating camera motion from matching pairs. If keypoints are selected...
Semi-Autonomous Visual Inspection of Vessels Assisted by an Unmanned Micro Aerial Vehicle
Vessel maintenance entails periodic visual inspections of internal and external parts of the hull in order to detect the typical defective situations affecting metallic structures, such as cracks, coating breakdown, corrosion, etc. The main goal of the EU-FP7 project...
A Control Architecture for a Micro Aerial Vehicle Intended for Vessel Visual Inspection
Large-tonnage vessels need to be revised periodically in order to detect defective situations, such as cracks, coating breakdown or corrosion that could lead to a catastrophe. The EU-FP7 project MINOAS is designed to develop a fleet of robotic platforms to automate...