| BibTeX-Key | Author / Editor / Organization | Title | Year | Journal / Proceedings / Book | BibTeX type | Keywords |
|---|---|---|---|---|---|---|
| Caro2012 | Caro, L.; Correa, J.; Espinace, P.; Langdon, D.; Maturana, D.; Mitnik, R.; Montabone, S.; Pszczolkowski, S.; Araneda, A.; Mery, D.; Torres, M. & Soto, A. | Indoor mobile robotics at Grima, PUC | 2012 |
Journal of Intelligent and Robotic Systems: Theory and Applications Vol. 66 (1-2) , pp. 151-165 |
article | autonomous navigation; mobile robots; scene understanding; social robots |
| Abstract: This paper describes the main activities and achievements of our research group on Machine Intelligence and Robotics (Grima) at the Computer Science Department, Pontificia Universidad Catolica de Chile (PUC). Since 2002, we have been developing an active research in the area of indoor autonomous social robots. Our main focus has been the cognitive side of Robotics, where we have developed algorithms for autonomous navigation using wheeled robots, scene recognition using vision and 3D range sensors, and social behaviors using Markov Decision Processes, among others. As a distinguishing feature, in our research we have followed a probabilistic approach, deeply rooted in machine learning and Bayesian statistical techniques. Among our main achievements are an increasing list of publications in main Robotics conference and journals, and the consolidation of a research group with more than 25 people among full-time professors, visiting researchers, and graduate students. © 2011 Springer Science+Business Media B.V. | ||||||
BibTeX:
@article{Caro2012,
author = {Caro, L. and Correa, J. and Espinace, P and Langdon, D. and Maturana, D. and Mitnik, R. and Montabone, S and Pszczolkowski, S. and Araneda, A. and Mery, D. and Torres, M. and Soto, A.},
title = {Indoor mobile robotics at Grima, PUC},
journal = {Journal of Intelligent and Robotic Systems: Theory and Applications},
year = {2012},
volume = {66},
number = {1-2},
pages = {151-165},
url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84857760368&partnerID=40&md5=896e761c8d8dd619719efa02970d2cb8}
}
|
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| Arredondo2011 | Arredondo, T.; Castillo, P.; Benapres, P.; Quiroz, J. & Torres, M. | A Biologically Inspired Memory in a Multi-agent Based Robotic Architecture | 2011 | Tools with Artificial Intelligence (ICTAI), 2011 23rd IEEE International Conference on , pp. 344 -351 | inproceedings | biologically inspired memory;blackboard architecture;cognitive memory;mobile robotic platform;multiagent based robotic architecture;multiple agent behavior;object recognition agent;pattern recognition;cognitive systems;mobile robots;multi-agent systems;multi-robot systems;object recognition;robot vision; |
| Abstract: We describe a biologically inspired memory in a multi-agent based robotic architecture. In this approach, memory and pattern recognition are intertwined to form a cognitive memory that is used for recognition of objects in a robotics environment. This memory is implemented in a multiple agent behavior based blackboard architecture as an object recognition agent. The agent performance is tested against a standard dataset with satisfactory results. The system is currently installed in a mobile robotic platform where its capabilities and applications are explored. | ||||||
BibTeX:
@inproceedings{Arredondo2011,
author = {Arredondo, T. and Castillo, P. and Benapres, P. and Quiroz, J. and Torres, M.},
title = {A Biologically Inspired Memory in a Multi-agent Based Robotic Architecture},
booktitle = {Tools with Artificial Intelligence (ICTAI), 2011 23rd IEEE International Conference on},
year = {2011},
pages = {344 -351},
doi = {http://dx.doi.org/10.1109/ICTAI.2011.58}
}
|
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| Jimenez-Pinto2011 | Jimenez-Pinto, J. & Torres-Torriti, M. |
Face salient points and eyes tracking for robust drowsiness detection
[BibTeX] |
2011 |
Robotica Vol. Available on CJO , pp. 1-11 |
article | |
BibTeX:
@article{Jimenez-Pinto2011,
author = {J. Jimenez-Pinto and M. Torres-Torriti},
title = {Face salient points and eyes tracking for robust drowsiness detection},
journal = {Robotica},
year = {2011},
volume = {Available on CJO},
pages = {1-11},
doi = {http://dx.doi.org/10.1017/S0263574711000749}
}
|
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| Castillo-Pizarro2010 | Castillo-Pizarro, P.; Arredondo, T.V. & Torres-Torriti, M. | Introductory Survey to Open-Source Mobile Robot Simulation Software | 2010 | Robotics Symposium and Intelligent Robotic Meeting (LARS), 2010 Latin American , pp. 150 -155 | inproceedings | |
| Abstract: Mobile robot simulation is a valuable tool for education, research and design purposes. The last decade has seen a considerable increase in the development of new software tools for mobile robot simulation, all of which have reached different levels of maturity. This paper presents a survey of the existing tools and discusses their strengths and drawbacks in terms of simplicity, flexibility, fields of application, among other desirable features. This discussion should be valuable to students, teachers, engineers and researchers alike who are seeking adequate tools for simulating autonomous mobile robots. Introductory examples showing the usage of three of the most mature and widely used open-source simulators (Carmen, Gazebo and Open Dynamics Engine) are also included. | ||||||
BibTeX:
@inproceedings{Castillo-Pizarro2010,
author = {Patricio Castillo-Pizarro and Tomas V. Arredondo and Miguel Torres-Torriti},
title = {Introductory Survey to Open-Source Mobile Robot Simulation Software},
booktitle = {Robotics Symposium and Intelligent Robotic Meeting (LARS), 2010 Latin American},
year = {2010},
pages = {150 -155},
doi = {http://dx.doi.org/10.1109/LARS.2010.19}
}
|
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| Oberli2010 | Oberli, C.; Torres-Torriti, M. & Landau, D. | Performance Evaluation of UHF RFID Technologies for Real-Time Passenger Recognition in Intelligent Public Transportation Systems | 2010 |
Intelligent Transportation Systems, IEEE Transactions on Vol. 11 (3) , pp. 748 -753 |
article | rfid tags;uhf rfid technologies;antenna position;antenna radiation pattern;intelligent public transportation systems;line-of-sight conditions;performance evaluation;radio frequency identification;realtime passenger recognition;uhf antennas;antenna radiation patterns;mobile antennas;mobile radio;radiofrequency identification; |
| Abstract: Automated passenger tracking in public transportation systems can be used to estimate the short-term demand and, thereby, to optimize the fleet schedule in real time. It can also be used to determine the origin-destination matrix and to maintain statistics of each passenger's transportation habits over time, thus enabling enhancements in long-term planning. However, ubiquitously tracking passengers throughout a network requires the ability to recognize them at single locations in the network. In this paper, we study the merits of realizing this task by means of radio-frequency identification (RFID) technologies. Forty volunteers carried RFID tags of the norm EPC Gen2 in their backpacks, wallets, pockets, and hands through a mockup of a bus door equipped with four reading antennas. Setups with one and two rows of persons walking through the portal were evaluated. The RFID tags were embedded in laminated plastic cards. Single-tag cards embedded with a single EPC Gen2 tag and dual-tag cards that also contained a traditional Mifare tag were used. Recognition statistics of passengers for all the combinations of one, two, three, and four antennas are presented. The recognition percentages are mainly influenced by the antenna position and radiation pattern and by the line-of-sight conditions between the tag and the antennas. | ||||||
BibTeX:
@article{Oberli2010,
author = {Christian Oberli and Miguel Torres-Torriti and Dan Landau},
title = {Performance Evaluation of UHF RFID Technologies for Real-Time Passenger Recognition in Intelligent Public Transportation Systems},
journal = {Intelligent Transportation Systems, IEEE Transactions on},
year = {2010},
volume = {11},
number = {3},
pages = {748 -753},
doi = {http://dx.doi.org/10.1109/TITS.2010.2048429}
}
|
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| Bravo-Valenzuela2009 | Bravo-Valenzuela, F. & Torres-Torriti, M. | Comparison of panoramic stereoscopic sensors based on hyperboloidal mirrors | 2009 | Robotics Symposium (LARS), 2009 6th Latin American , pp. 1 -8 | inproceedings | 3d reconstruction;distance estimation;elliptic epipolar curve;epipolar lines;hyperbolic epipolar curve;hyperboloidal catadioptric sensors;hyperboloidal mirror;mobile robot navigation;omnidirectional image;panoramic distance map;panoramic stereoscopic sensor;parabolic epipolar curve;radial lines;stereoscopic correspondence;stereoscopic system;vehicular application;elliptic equations;hyperbolic equations;image reconstruction;mirrors;mobile robots;parabolic equations;path planning;robot vision;stereo image processing; |
| Abstract: Panoramic distance maps can provide valuable information for mobile robot navigation. An approach to obtain such distance maps is to implement a stereoscopic system using two hyperboloidal catadioptric sensors. This paper analyzes the effects over distance estimation of two typical arrangements of the mirrors. In one of the arrangements the mirrors are placed along a vertical axis, while in the other configuration the sensors are located on plane. Both configurations may yield similar distance estimation errors for an adequately chosen baseline and given measurement range of interest. However, depending on the application, some aspects can make one arrangement preferable over the other. In the vertical configuration, the epipolar lines correspond to radial lines in the omnidirectional image, and hence, the stereoscopic correspondence problem can be solved in a standard and simple way, but a drawback of this arrangement is the space required, which in the case of mobile robot and vehicular application translates into a reduced vertical clearance and poorer aerodynamics. The horizontal arrangement, on the other hand, requires less space if mounted on a mobile robot, a vehicle's roof or its lateral mirrors, but involves complex parabolic, elliptic or hyperbolic epipolar curves that make the solution of the stereo correspondence problem computationally more expensive. Despite the evident implementation advantages and drawback of each approach, no rigorous quantitative information exits in the literature about which of the two configurations provides in general the most accurate 3D reconstruction of the environment. | ||||||
BibTeX:
@inproceedings{Bravo-Valenzuela2009,
author = {Felipe Bravo-Valenzuela and Miguel Torres-Torriti},
title = {Comparison of panoramic stereoscopic sensors based on hyperboloidal mirrors},
booktitle = {Robotics Symposium (LARS), 2009 6th Latin American},
year = {2009},
pages = {1 -8},
doi = {http://dx.doi.org/10.1109/LARS.2009.5418315}
}
|
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| Garcia-Bunster2009 | Garcia-Bunster, G. & Torres-Torriti, M. | A density-based approach for effective pedestrian counting at bus stops | 2009 | Systems, Man and Cybernetics, 2009. SMC 2009. IEEE International Conference on , pp. 3434 -3439 | inproceedings | gaussian mixture background model;automated bus fleet scheduling;bus dispatch;bus stop;camera position;computer vision;density-based approach;foreground segmentation;passenger demand;pedestrian count estimation;gaussian processes;automated highways;computer vision;image segmentation;object detection;road vehicles;scheduling; |
| Abstract: Accurately counting people waiting at bus stops is essential for automated bus fleet scheduling and dispatch. Estimating the passenger demand in regular open bus stops is a nontrivial problem because of the varying conditions, such as illumination, crowdedness, people poses, to name a few. This paper presents a simple, but very effective approach to estimate the passenger count using people density estimates. People density is obtained from foreground segmentation using a Gaussian mixture background model. A linear model, which is employed to correct the densities due to perspective scaling for people far from the camera position, yields the final people count estimates. The approach is compared to the well-know Viola-Jones detector and shown to yield better people count estimates despite its simplicity, because it is more robust to occlusions, pose changes, and due to the fact that it does not attempt to find body parts. The proposed method is general and can be employed to count people in other public spaces, such as buildings. | ||||||
BibTeX:
@inproceedings{Garcia-Bunster2009,
author = {Guillermo Garcia-Bunster and Miguel Torres-Torriti},
title = {A density-based approach for effective pedestrian counting at bus stops},
booktitle = {Systems, Man and Cybernetics, 2009. SMC 2009. IEEE International Conference on},
year = {2009},
pages = {3434 -3439},
doi = {http://dx.doi.org/10.1109/ICSMC.2009.5346178}
}
|
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| Jimenez-Pinto2009 | Jimenez-Pinto, J. & Torres-Torriti, M. | Driver alert state and fatigue detection by salient points analysis | 2009 | Systems, Man and Cybernetics, 2009. SMC 2009. IEEE International Conference on , pp. 455 -461 | inproceedings | shi-tomasi salient features;viola-jones face detector;bus drivers;driver alert state;facial cues;fatigue detection;monotonous road conditions;motion analysis;near infrared illumination;salient points analysis;traffic accidents;truck drivers;emotion recognition;face recognition;image motion analysis;road accidents;traffic engineering computing; |
| Abstract: Assessing a driver's state of awarness and fatigue is especially important to reduce the number of traffic accidents often involving bus and truck drivers, who must work during several hours under monotonous road conditions. Two main challenges arise in resolving the state of alert: first, the system must be capable of detecting the driver's face location; secondly, the driver's facial cues, such as blinking, yawning, and eyebrow rising must be recognized. Our approach combines the well-known Viola-Jones face detector with motion analysis of Shi-Tomasi salient features within the face to determine the driver's state of alert. The location of the eyes and blinking are cues whose detection is also important. To this end, the proposed method takes advantage of the high reflectivity of the retina to near infrared illumination employing a camera with an 850 nm wavelength filter. Motion analysis of the salient points, in particular cluster mass centers and spatial distribution, has proved successful in determining the driver's state of alert. | ||||||
BibTeX:
@inproceedings{Jimenez-Pinto2009,
author = {Javier Jimenez-Pinto and Miguel Torres-Torriti},
title = {Driver alert state and fatigue detection by salient points analysis},
booktitle = {Systems, Man and Cybernetics, 2009. SMC 2009. IEEE International Conference on},
year = {2009},
pages = {455 -461},
doi = {http://dx.doi.org/10.1109/ICSMC.2009.5346760}
}
|
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| Tapia-Espinoza2009 | Tapia-Espinoza, R. & Torres-Torriti, M. | A comparison of gradient versus color and texture analysis for lane detection and tracking | 2009 | Robotics Symposium (LARS), 2009 6th Latin American , pp. 1 -6 | inproceedings | gabor filters;autonomous vehicle guidance;color feature;gradient-based lane detection;lane detection;lane tracking;road segmentation;texture feature;gabor filters;automated highways;gradient methods;image colour analysis;image segmentation;image texture;road traffic; |
| Abstract: Accurate lane detection in real-time is a critical task in autonomous vehicle guidance and lane departure warning for driver assistance. Existing vision-based approaches rely mostly on some analysis of the spatial gradient of the image. However, if the road structure is not regular and well delimited, edges may not be easy to extract and other features must be employed. This paper evaluates the use of color and textural features as a way to improve the standard gradient-based lane detection. Textural features are generated using a bank of Gabor filters. A benefit of using color and texture is that the sky regions of the image, as well as side elements, can be detected. The results obtained from testing the approaches on city roads show that color and texture analysis yields a more accurate road segmentation. | ||||||
BibTeX:
@inproceedings{Tapia-Espinoza2009,
author = {Rodolfo Tapia-Espinoza and Miguel Torres-Torriti},
title = {A comparison of gradient versus color and texture analysis for lane detection and tracking},
booktitle = {Robotics Symposium (LARS), 2009 6th Latin American},
year = {2009},
pages = {1 -6},
doi = {http://dx.doi.org/10.1109/LARS.2009.5418326}
}
|
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| Donoso-Aguirre2008 | Donoso-Aguirre, F.; Bustos-Salas, J.-P.; Torres-Torriti, M. & Guesalaga, A. | Mobile robot localization using the Hausdorff distance | 2008 |
Robotica Vol. 26 (2) , pp. 129-141 |
article | |
| Abstract: This paper presents a novel method for localization of mobile robots in structured environments. The estimation of the position and orientation of the robot relies on the minimisation of the partial Hausdorff distance between ladar range measurements and a floor plan image of the building. The approach is employed in combination with an extended Kalman filter to obtain accurate estimates of the robot's position, heading and velocity. Good estimates of these variables were obtained during tests performed using a differential drive robot, thus demonstrating that the approach provides an accurate, reliable and computationally feasible alternative for indoor robot localization and autonomous navigation. | ||||||
BibTeX:
@article{Donoso-Aguirre2008,
author = {Felipe Donoso-Aguirre and Juan-Pablo Bustos-Salas and Miguel Torres-Torriti and Andres Guesalaga},
title = {Mobile robot localization using the Hausdorff distance},
journal = {Robotica},
year = {2008},
volume = {26},
number = {2},
pages = {129-141},
doi = {http://dx.doi.org/10.1017/S0263574707003657}
}
|
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| Espinace2008 | Espinace, P.; Soto, A. & Torres-Torriti, M. | Real-Time Robot Localization in Indoor Environments Using Structural Information | 2008 | Robotic Symposium, 2008. LARS '08. IEEE Latin American , pp. 79 -84 | inproceedings | monte carlo localization strategy;grid-based map;indoor environment;likelihood function;line segments extraction;mobile robot navigation;modified hausdorff distance;range finder;real-time mobile robot localization;state tracking phase;structural information;monte carlo methods;distance measurement;mobile robots;path planning;tracking; |
| Abstract: This paper presents a novel approach for real-time mobile robot localization in structured indoor environments. The proposed method takes advantage of the available structural information by implementing a Monte Carlo Localization strategy over a map of line segments rather than a grid-based map, thus allowing for speed improvements. Another novel aspect is in the likelihood function, which is based on a Modified Hausdorff Distance between the expected line segments the robot should sense and the line segments extracted from actual measurements using a range finder. Additionally, the number of particles of the Monte Carlo Localization method is automatically adjusted, using a large number of particles in the global localization phase, where the position of the robot is unknown, and a reduced number of particles during the state tracking phase, where uncertainty about the robot position is restricted to a small area. The proposed approach has been implemented and tested in a real office environment, achieving true real-time performance. Results show a fast convergence from global localization to state tracking, as well as, robustness in position tracking. Experimental tests and comparisons with state-of-the-art methods validate the efficiency and robustness of our approach. | ||||||
BibTeX:
@inproceedings{Espinace2008,
author = {Pablo Espinace and Alvaro Soto and Miguel Torres-Torriti},
title = {Real-Time Robot Localization in Indoor Environments Using Structural Information},
booktitle = {Robotic Symposium, 2008. LARS '08. IEEE Latin American},
year = {2008},
pages = {79 -84},
doi = {http://dx.doi.org/10.1109/LARS.2008.27}
}
|
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| Garcia-Bunster2008 | Garcia-Bunster, G. & Torres-Torriti, M. | Effective Pedestrian Detection and Counting at Bus Stops | 2008 | Robotic Symposium, 2008. LARS '08. IEEE Latin American , pp. 158 -163 | inproceedings | automated fleet scheduling;background subtraction scheme;bus stops;dispatching system;image sequences;pedestrian counting;pedestrian detection;people counting;people density estimates;robotic platforms;edge detection;image sequences; |
| Abstract: This paper presents two approaches for pedestrian detection and counting at bus stops, whose purpose is to provide accurate demand estimates for an automated fleet scheduling and dispatching system. The approaches are general and can also be applied to people counting in public buildings or pedestrian detection from robotic platforms with minor modifications to account for background motion. The first approach employs a background subtraction scheme combined with the Viola and Jones detector, while the second one uses the foreground pixels count and a linear model involving people density estimates to calculate the total number of people. It is shown that the second approach is more accurate and reliable despite its simplicity, because it is not subject to the detection errors arising in the face or body parts detectors of the first approach. Both approaches are tested using image sequences from a real bus stop. | ||||||
BibTeX:
@inproceedings{Garcia-Bunster2008,
author = {Guillermo Garcia-Bunster and Miguel Torres-Torriti},
title = {Effective Pedestrian Detection and Counting at Bus Stops},
booktitle = {Robotic Symposium, 2008. LARS '08. IEEE Latin American},
year = {2008},
pages = {158 -163},
doi = {http://dx.doi.org/10.1109/LARS.2008.18}
}
|
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| Honorato2008 | Honorato, J.-L.; Spiniak, I. & Torres-Torriti, M. | Human Detection Using Thermopiles | 2008 | Robotic Symposium, 2008. LARS '08. IEEE Latin American , pp. 151 -157 | inproceedings | human detection;illumination conditions;maximum expected skin temperature;mobile robot;passive infrared sensor;pedestrian detection;thermopile array sensor;thermopile sensor;mobile robots;object detection;robot vision;sensor arrays;thermopiles; |
| Abstract: This paper presents a simple approach to detect people using an 8times1 thermopile array sensor. The performance of the sensor is evaluated in terms of detection rates and false positives obtained in the application of the sensor to people counting at doorways and pedestrian detection from a mobile robot in a real environment. To ensure that people is detectable regardless of the ambient temperature, the proposed method normalizes the temperatures according to a model for the maximum expected skin temperature as a function of the ambient temperature. The working principles and characterization of the thermopile sensor are also presented. This should be of interest and pedagogical value to many roboticists who wish to equip their robot with a rather effective passive infrared sensor, which unlike vision-based methods is not affected by changes in the illumination conditions of the environment. | ||||||
BibTeX:
@inproceedings{Honorato2008,
author = {Jose-Luis Honorato and Ignacio Spiniak and Miguel Torres-Torriti},
title = {Human Detection Using Thermopiles},
booktitle = {Robotic Symposium, 2008. LARS '08. IEEE Latin American},
year = {2008},
pages = {151 -157},
doi = {http://dx.doi.org/10.1109/LARS.2008.21}
}
|
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| Peralta-Cabezas2008 | Peralta-Cabezas, J.-L.; Torres-Torriti, M. & Guarini-Hermann, M. | A comparison of Bayesian prediction techniques for mobile robot trajectory tracking | 2008 |
Robotica Vol. 26 (5) , pp. 571-585 |
article | |
| Abstract: This paper presents a performance comparison of different estimation and prediction techniques applied to the problem of tracking multiple robots. The main performance criteria are the magnitude of the estimation or prediction error, the computational effort and the robustness of each method to non-Gaussian noise. Among the different techniques compared are the well-known Kalman filters and their different variants (e.g. extended and unscented), and the more recent techniques relying on Sequential Monte Carlo Sampling methods, such as particle filters and Gaussian Mixture Sigma Point Particle Filter. | ||||||
BibTeX:
@article{Peralta-Cabezas2008,
author = {Jose-Luis Peralta-Cabezas and Miguel Torres-Torriti and Marecelo Guarini-Hermann},
title = {A comparison of Bayesian prediction techniques for mobile robot trajectory tracking},
journal = {Robotica},
year = {2008},
volume = {26},
number = {5},
pages = {571-585},
doi = {http://dx.doi.org/10.1017/S0263574708004153}
}
|
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| Torres-Torriti2008 | Torres-Torriti, M. & Guesalaga, A. | Scan-to-map matching using the Hausdorff distance for robust mobile robot localization | 2008 | Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on , pp. 455 -460 | inproceedings | autonomous navigation;extended kalman filter;polygonal structure;robust mobile robot localization;scan-to-map matching;kalman filters;mobile robots;path planning; |
| Abstract: This paper presents a robust method for localization of mobile robots in environments that may be cluttered and that not necessarily have a polygonal structure. The estimation of the position and orientation of the robot relies on the minimization of the modified Hausdorff distance between ladar range measurements and a map of the environment. The approach is employed in combination with an extended Kalman filter to obtain accurate estimates of the robot's position, heading and velocity. Good estimates of these variables were obtained during tests performed using a differential drive robot in a populated environment, thus demonstrating that the approach provides a reliable and computationally feasible alternative for mobile robot localization and autonomous navigation. | ||||||
BibTeX:
@inproceedings{Torres-Torriti2008,
author = {Miguel Torres-Torriti and Andres Guesalaga},
title = {Scan-to-map matching using the Hausdorff distance for robust mobile robot localization},
booktitle = {Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on},
year = {2008},
pages = {455 -460},
doi = {http://dx.doi.org/10.1109/ROBOT.2008.4543249}
}
|
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| Bustos2007 | Bustos, J.-P.; Felipe Donoso, A.G. & Torres-Torriti, M. | Matching radar and satellite images for ship trajectory estimation using the Hausdorff distance | 2007 |
Radar, Sonar Navigation, IET Vol. 1 (1) , pp. 50 -58 |
article | gps;hausdorff distance;kalman filter;automatic radar calibration;geo-referenced satellite images;geographical latitude measurement;indoor autonomous mobile robot navigation;longitude position measurement;ship trajectory estimation;ship-borne radar images;kalman filters;image matching;position measurement;radar imaging;remote sensing by radar;satellite navigation;ships;spaceborne radar; |
| Abstract: A novel technique to obtain position, velocity and radar biases estimates of a ship is described by matching ship-borne radar images to geo-referenced satellite images. The matching is performed through the minimisation of the averaged partial Hausdorff distances between data points in each image. The minimisation rapidly yields robust geographical latitude and longitude position measurements, as well as ship heading and radar biases. The accuracy of the measurements is improved by feeding them into a Kalman filter that also allows estimates of the ship's velocity to be obtained. The method provides an alternative effective position sensor for GPS denied environments, which may also be employed for automatic radar calibration of bearing and range biases or for indoor autonomous mobile robot navigation | ||||||
BibTeX:
@article{Bustos2007,
author = {Juan-Pablo Bustos and Felipe Donoso, Andres Guesalaga and Miguel Torres-Torriti},
title = {Matching radar and satellite images for ship trajectory estimation using the Hausdorff distance},
journal = {Radar, Sonar Navigation, IET},
year = {2007},
volume = {1},
number = {1},
pages = {50 -58},
doi = {http://dx.doi.org/10.1049/iet-rsn:20060025}
}
|
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| Guesalaga2007 | Guesalaga, A. & Torres-Torriti, M. |
Automatic ship positioning and radar biases correction using the Hausdorff distance
[BibTeX] |
2007 | Proceedings of the 10th International Conference on Information Fusion 2007 | inproceedings | |
BibTeX:
@inproceedings{Guesalaga2007,
author = {Andres Guesalaga and Miguel Torres-Torriti},
title = {Automatic ship positioning and radar biases correction using the Hausdorff distance},
booktitle = {Proceedings of the 10th International Conference on Information Fusion 2007},
year = {2007}
}
|
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| Torres-Torriti2007 | Torres-Torriti, M. & Guesalaga, A. | Automatic ship positioning and radar biases correction using the hausdorff distance | 2007 | Information Fusion, 2007 10th International Conference on , pp. 1 -8 | inproceedings | gps-denied environments;kalman filter;association algorithms;automatic radar calibration;automatic ship positioning;geo-referenced satellite images;partial hausdorff;position sensor;radar biases correction;ship-borne radar image matching;kalman filters;image matching;radar imaging; |
| Abstract: This paper describes a novel technique to obtain radar biases estimates that can effectively reduce mismatches in track association algorithms. This is accomplished by matching ship-borne radar images to geo-referenced satellite images. The matching is performed through the minimization of the averaged partial Hausdorff distance between data points in each image. The minimization rapidly yields robust latitude and longitude position estimates, as well as ship heading and radar biases. The accuracy of the measurements is improved by feeding them into a Kahnan filter, which also yields estimates for the ship's velocity. The method can be employed for automatic radar calibration of bearing and range biases, while it also serves as an alternative effective position sensor for GPS-denied environments. | ||||||
BibTeX:
@inproceedings{Torres-Torriti2007,
author = {Miguel Torres-Torriti and Andres Guesalaga},
title = {Automatic ship positioning and radar biases correction using the hausdorff distance},
booktitle = {Information Fusion, 2007 10th International Conference on},
year = {2007},
pages = {1 -8},
doi = {http://dx.doi.org/10.1109/ICIF.2007.4408137}
}
|
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| Bustos2006 | Bustos, J.-P.; Donoso, F.; Guesalaga, A. & Torres-Torriti, M. | Matching Radar and Satellite Images Employing the Hausdorff Distance for Ship Positioning and Trajectory Estimation | 2006 | Image Processing, 2006 IEEE International Conference on , pp. 2797 -2800 | inproceedings | hausdorff distance;georeferenced satellite image;indoor autonomous navigation;maritime navigation;minimization;radar image matching;ship positioning;trajectory estimation;vehicles location;geophysical signal processing;image matching;marine radar;navigation;radar imaging;remote sensing by radar;ships; |
| Abstract: The paper describes a technique to match satellite and radar images using the Hausdorff distance (HD). Minimization of the average of a truncated array of sorted Hausdorff distances is used to get estimates for the radar location, together with sensor bias errors and its platform speed vector. The technique is applied to maritime navigation, where geo-referenced satellite images (UTM) are matched to radar scan images. Good estimates are obtained for these variables, thus providing an alternative method to obtain a vehicle's location in GPS-denied environments or for indoor autonomous navigation | ||||||
BibTeX:
@inproceedings{Bustos2006,
author = {Juan-Pablo Bustos and Felipe Donoso and Andres Guesalaga and Miguel Torres-Torriti},
title = {Matching Radar and Satellite Images Employing the Hausdorff Distance for Ship Positioning and Trajectory Estimation},
booktitle = {Image Processing, 2006 IEEE International Conference on},
year = {2006},
pages = {2797 -2800},
doi = {http://dx.doi.org/10.1109/ICIP.2006.312989}
}
|
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| Haro2006 | Haro, F. & Torres-Torriti, M. | A Comparison of Path Planning Algorithms for Omni-Directional Robots in Dynamic Environments | 2006 | Robotics Symposium, 2006. LARS '06. IEEE 3rd Latin American , pp. 18 -25 | inproceedings | a* algorithm;bug algorithm;dynamic environments;local multiresolution;minimum cost path;multiresolution grids;multirobot environments;obstacle avoidance;omnidirectional robots;path planning;potential fields algorithm;multi-robot systems;path planning; |
| Abstract: The scope of this paper is to analyze and compare three path planning methods for omni-directional robots, which are based on a) the bug algorithm, b) the potential fields algorithm, and c) the A* algorithm for minimum cost path with multiresolution grids. The approaches are compared in terms of computational costs and the resulting path lengths. Results obtained indicate that the bug algorithm is a suitable choice for this type of application as its computational cost is lower than that of the other methods. Furthermore, minor modifications of the standard bug algorithm, such as the tangent following modification, allow the path planner to handle well the situations encountered in typical multi-robot environments | ||||||
BibTeX:
@inproceedings{Haro2006,
author = {Felipe Haro and Miguel Torres-Torriti},
title = {A Comparison of Path Planning Algorithms for Omni-Directional Robots in Dynamic Environments},
booktitle = {Robotics Symposium, 2006. LARS '06. IEEE 3rd Latin American},
year = {2006},
pages = {18 -25},
doi = {http://dx.doi.org/10.1109/LARS.2006.334319}
}
|
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| Peralta-Cabezas2006 | Peralta-Cabezas, J.-L.; Torres-Torriti, M. & Guarini-Hermann, M. | A Comparison of Bayesian Prediction Techniques for Mobile Robot Trajectory Tracking | 2006 | Mechatronics, 2006 IEEE International Conference on , pp. 442 -447 | inproceedings | bayesian prediction techniques;kalman filters;estimation error;mobile robot trajectory tracking;nongaussian noise;prediction error;sequential monte carlo sampling;bayes methods;kalman filters;monte carlo methods;estimation theory;mobile robots;position control; |
| Abstract: This paper presents an assessment of different estimation and prediction techniques applied to the tracking of multiple robots. The main assessment criteria are the magnitude of the estimation or prediction error, the computational effort and the robustness of each method under non-Gaussian noise. Among the different techniques compared are the well known Kalman filters and their different variants (extended and unscented), and the more recent techniques relying on sequential Monte Carlo sampling methods, such as particle filters, and sigma-points filters | ||||||
BibTeX:
@inproceedings{Peralta-Cabezas2006,
author = {Jose-Luis Peralta-Cabezas and Miguel Torres-Torriti and Marecelo Guarini-Hermann},
title = {A Comparison of Bayesian Prediction Techniques for Mobile Robot Trajectory Tracking},
booktitle = {Mechatronics, 2006 IEEE International Conference on},
year = {2006},
pages = {442 -447},
doi = {http://dx.doi.org/10.1109/ICMECH.2006.252568}
}
|
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| Peralta2006 | Peralta, J.-L.; Torres-Torriti, M. & Guarini, M. | Trajectory Prediction of Multiple RoboCup F-180 Autonomous Mobile Robots for Perception-Latency Compensation | 2006 | Robotics Symposium, 2006. LARS '06. IEEE 3rd Latin American , pp. 10 -17 | inproceedings | bayesian prediction;kalman filters;multiple robocup f-180 autonomous mobile robots;multiple robot tracking;nongaussian noise;perception-latency compensation;sequential monte carlo sampling;sigma-point methods;trajectory prediction;kalman filters;monte carlo methods;mobile robots;multi-robot systems;sampling methods;tracking; |
| Abstract: This paper presents an assessment of different estimation and prediction techniques applied to the tracking of multiple robots under RoboCup F-180 environment. The main assessment criteria are the magnitude of the estimation or prediction error, the computational effort and the robustness of each method under non-Gaussian noise. Among the different techniques compared are the well known Kalman filters and their different variants (extended and unscented), and the more recent techniques relying on sequential Monte Carlo sampling methods, such as particle filters, and sigma-points filters | ||||||
BibTeX:
@inproceedings{Peralta2006,
author = {Jose-Luis Peralta and Miguel Torres-Torriti and Marcelo Guarini},
title = {Trajectory Prediction of Multiple RoboCup F-180 Autonomous Mobile Robots for Perception-Latency Compensation},
booktitle = {Robotics Symposium, 2006. LARS '06. IEEE 3rd Latin American},
year = {2006},
pages = {10 -17},
doi = {http://dx.doi.org/10.1109/LARS.2006.334318}
}
|
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| Torres-Torriti2005 | Torres-Torriti, M. & Michalska, H. | A Software Package for Lie Algebraic Computations | 2005 |
SIAM Review Vol. 47 (4) , pp. 722-745 |
article | wei--norman equations; campbell--baker--hausdorff formula; computer algebra; control systems; differential equations; hall bases; lie algebras; lie groups; nonlinear filtering; symbolic computation |
BibTeX:
@article{Torres-Torriti2005,
author = {Miguel Torres-Torriti and Hannah Michalska},
title = {A Software Package for Lie Algebraic Computations},
journal = {SIAM Review},
publisher = {SIAM},
year = {2005},
volume = {47},
number = {4},
pages = {722-745},
url = {http://link.aip.org/link/?SIR/47/722/1},
doi = {http://dx.doi.org/10.1137/S0036144502410427}
}
|
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| Michalska2004 | Michalska, H. & Torres-Torriti, M. | Feedback stabilization of strongly non-linear systems using the CBH formula | 2004 |
International Journal of Control Vol. 77 (6) , pp. 562-571 |
article | |
| Abstract: This paper presents an approach to the construction of stabilizing feedback for strongly non-linear systems. The class of systems of interest includes systems with drift which are affine in the controls and which cannot be stabilized by continuous state feedback. The approach is independent of the selection of a Lyapunov function, but requires the on-line solution of a non-linear programming satisficing problem stated in terms of expressions resulting from the composition of flows via the Campbell–Baker–Hausdorff formula. | ||||||
BibTeX:
@article{Michalska2004,
author = {Hannah Michalska and Miguel Torres-Torriti},
title = {Feedback stabilization of strongly non-linear systems using the CBH formula},
journal = {International Journal of Control},
year = {2004},
volume = {77},
number = {6},
pages = {562-571},
url = {http://www.informaworld.com/10.1080/00207170410001663516},
doi = {http://dx.doi.org/10.1080/00207170410001663516}
}
|
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| Michalska2003 | Michalska, H. & Torres-Torriti, M. | Nonlinear programming and the CBH formula in feedback stabilization of nonlinear systems with drift | 2003 |
Vol. 4 Decision and Control, 2003. Proceedings. 42nd IEEE Conference on , pp. 3633 - 3634 vol.4 |
inproceedings | cbh formula; campbell-baker-hausdorff formula; lyapunov function; asymptotic stabilization; closed loop system; continuous state feedback; feedback stabilization; nonlinear programming; nonlinear systems; lyapunov methods; asymptotic stability; closed loop systems; nonlinear control systems; nonlinear programming; state feedback; |
| Abstract: This paper presents an approach for the asymptotic stabilization of strongly nonlinear systems that are affine in control and which cannot be stabilized by continuous state feedback. The approach only requires that along trajectories of the closed-loop system a chosen Lyapunov type function is decreased periodically (as opposed to monotonically) by employing controls which result from an on-line solution of a nonlinear programming satisficing problem stated in terms of expressions derived from the composition of flows via the Campbell-Baker-Hausdorff formula. | ||||||
BibTeX:
@inproceedings{Michalska2003,
author = {Hannah Michalska and Miguel Torres-Torriti},
title = {Nonlinear programming and the CBH formula in feedback stabilization of nonlinear systems with drift},
booktitle = {Decision and Control, 2003. Proceedings. 42nd IEEE Conference on},
year = {2003},
volume = {4},
pages = { 3633 - 3634 vol.4},
doi = {http://dx.doi.org/10.1109/CDC.2003.1271712}
}
|
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| Michalska2003a | Michalska, H. & Torres-Torriti, M. | A reachable set approach to feedback stabilization of nonlinear systems with drift | 2003 |
Vol. 6 Decision and Control, 2003. Proceedings. 42nd IEEE Conference on , pp. 6066 - 6071 Vol.6 |
inproceedings | lyapunov type function; asymptotic stability; continuous state feedback; drift; feedback controls; feedback stabilization; logarithmic coordinates; nonlinear programming satisfaction problem; nonlinear systems; reachable set approach; lyapunov methods; nonlinear programming; nonlinear systems; set theory; stability; state feedback; |
| Abstract: The paper presents an approach to the construction of stabilizing feedback controls for strongly nonlinear systems. The class of systems of interest includes systems with drift which are affine in control and which cannot be stabilized by continuous state feedback. The approach is independent of the selection of a Lyapunov type function, but requires the solution of a nonlinear programming satisfaction problem stated in terms of the logarithmic coordinates of flows. As opposed to other approaches, point-to-point steering is not required to achieve asymptotic stability. Instead, the flow of the controlled system is required to intersect periodically a certain reachable set in the space of the logarithmic coordinates. | ||||||
BibTeX:
@inproceedings{Michalska2003a,
author = {Hannah Michalska and Miguel Torres-Torriti},
title = {A reachable set approach to feedback stabilization of nonlinear systems with drift},
booktitle = {Decision and Control, 2003. Proceedings. 42nd IEEE Conference on},
year = {2003},
volume = {6},
pages = { 6066 - 6071 Vol.6},
doi = {http://dx.doi.org/10.1109/CDC.2003.1272218}
}
|
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| Michalska2003b | Michalska, H. & Torres-Torriti, M. | A geometric approach to feedback stabilization of nonlinear systems with drift | 2003 |
Systems & Control Letters Vol. 50 (4) , pp. 303 - 318 |
article | nonlinear systems with drift |
| Abstract: The paper presents an approach to the construction of stabilizing feedback for strongly nonlinear systems. The class of systems of interest includes systems with drift which are affine in control and which cannot be stabilized by continuous state feedback. The approach is independent of the selection of a Lyapunov type function, but requires the solution of a nonlinear programming satisficing problem stated in terms of the logarithmic coordinates of flows. As opposed to other approaches, point-to-point steering is not required to achieve asymptotic stability. Instead, the flow of the controlled system is required to intersect periodically a certain reachable set in the space of the logarithmic coordinates. | ||||||
BibTeX:
@article{Michalska2003b,
author = {Hannah Michalska and Miguel Torres-Torriti},
title = {A geometric approach to feedback stabilization of nonlinear systems with drift},
journal = {Systems & Control Letters},
year = {2003},
volume = {50},
number = {4},
pages = {303 - 318},
url = {http://www.sciencedirect.com/science/article/B6V4X-48XCKMF-1/2/01461b92faf169e62f66d52b499514b9},
doi = {DOI: 10.1016/S0167-6911(03)00169-5}
}
|
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| Torres-Torriti2002 | Torres-Torriti, M. & Michalska, H. | Stabilization of bilinear systems with unstable drift | 2002 |
Vol. 5 American Control Conference, 2002. Proceedings of the 2002 , pp. 3490 - 3491 vol.5 |
inproceedings | lie algebraic techniques; lyapunov techniques; bilinear system stabilization; computationally feasible approach; feedback stabilization; reaching phase; sliding phase; stable manifold; stable manifold ensemble; unstable drift; lie algebras; lyapunov methods; bilinear systems; computational complexity; control system synthesis; feedback; stability; |
| Abstract: A simple and computationally feasible approach to feedback stabilization of a class of bilinear systems with unstable drift is presented. Stabilization is achieved in two stages: a reaching phase, in which the control drives the trajectories to a stable manifold; and a sliding phase, in which states are steered to the origin along an ensemble of stable manifolds. The construction of the control is based on a combination of Lyapunov and Lie algebraic techniques. | ||||||
BibTeX:
@inproceedings{Torres-Torriti2002,
author = {Miguel Torres-Torriti and Hannah Michalska},
title = {Stabilization of bilinear systems with unstable drift},
booktitle = {American Control Conference, 2002. Proceedings of the 2002},
year = {2002},
volume = {5},
pages = { 3490 - 3491 vol.5},
doi = {http://dx.doi.org/10.1109/ACC.2002.1024467}
}
|
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| Michalska2001 | Michalska, H. & Torres-Torriti, M. | Time-varying stabilizing feedback control for nonlinear systems with drift | 2001 |
Vol. 2 Decision and Control, 2001. Proceedings of the 40th IEEE Conference on , pp. 1767 -1768 vol.2 |
inproceedings | lie group;philip-hall flow coordinates;asymptotically stabilizing feedback correction term;drift;nonlinear systems;open-loop control problem;periodic time-varying control;time-varying stabilizing feedback control;trajectory interception problem;lie groups;asymptotic stability;feedback;nonlinear control systems;periodic control;time-varying systems; |
| Abstract: A novel method is presented for the construction of time-varying stabilizing feedback control for nonlinear systems with drift. The proposed feedback law is a composition of a periodic time-varying control and an asymptotically stabilizing feedback "correction" term. The periodic control is obtained through the solution of an open-loop control problem on the associated Lie group, which is posed as a trajectory interception problem in Philip-Hall flow coordinates | ||||||
BibTeX:
@inproceedings{Michalska2001,
author = {Hannah Michalska and Miguel Torres-Torriti},
title = {Time-varying stabilizing feedback control for nonlinear systems with drift},
booktitle = {Decision and Control, 2001. Proceedings of the 40th IEEE Conference on},
year = {2001},
volume = {2},
pages = {1767 -1768 vol.2},
doi = {http://dx.doi.org/10.1109/.2001.981159}
}
|
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| Torres-Torriti2001 | Torres-Torriti, M. & Jouan, A. | Gabor vs. GMRF features for SAR imagery classification | 2001 |
Vol. 3 Image Processing, 2001. Proceedings. 2001 International Conference on , pp. 1043 -1046 vol.3 |
inproceedings | gmrf features; gmrf model parameters; gabor convolution energies; gabor features; gauss markov random field; mstar clutter regions; sar imagery classification; misclassification errors; remotely sensed imagery; synthetic aperture radar imagery; textural features; gaussian processes; markov processes; convolution; feature extraction; image classification; image texture; radar clutter; radar imaging; random processes; remote sensing by radar; synthetic aperture radar; |
| Abstract: A comparison of the ability to discriminate among distinct regions in synthetic aperture radar (SAR) imagery using textural features based on two different methods is presented. Features are generated from Gauss Markov random field (GMRF) model parameters and from Gabor convolution energies. The discrimination ability is evaluated in terms of misclassification errors resulting from tests performed on a patchwork of different MSTAR clutter regions | ||||||
BibTeX:
@inproceedings{Torres-Torriti2001,
author = {Miguel Torres-Torriti and Alexandre Jouan},
title = {Gabor vs. GMRF features for SAR imagery classification},
booktitle = {Image Processing, 2001. Proceedings. 2001 International Conference on},
year = {2001},
volume = {3},
pages = {1043 -1046 vol.3},
doi = {http://dx.doi.org/10.1109/ICIP.2001.958305}
}
|
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| Torres-Torriti2001a | Torres-Torriti, M. & Jouan, A. |
An experimental comparison of multiscale MRF based methods for SAR imagery classification
[BibTeX] |
2001 | Proceedings of the 4th International Conference on Information Fusion 2001 | inproceedings | |
BibTeX:
@inproceedings{Torres-Torriti2001a,
author = {Miguel Torres-Torriti and Alexandre Jouan},
title = {An experimental comparison of multiscale MRF based methods for SAR imagery classification},
booktitle = {Proceedings of the 4th International Conference on Information Fusion 2001},
year = {2001}
}
|
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| Michalska2000 | Michalska, H. & Torres-Torriti, M. |
Time-varying stabilizing feedback design for bilinear systems
[BibTeX] |
2000 | Nineteenth IASTED International Conference: Modelling, Identification and Control - MIC 2000 , pp. 93-99 | inproceedings | |
BibTeX:
@inproceedings{Michalska2000,
author = {Hannah Michalska and Miguel Torres-Torriti},
title = {Time-varying stabilizing feedback design for bilinear systems},
booktitle = {Nineteenth IASTED International Conference: Modelling, Identification and Control - MIC 2000},
year = {2000},
pages = {93-99}
}
|
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| Torres-Torriti1999 | Torres-Torriti, M. & Guesalaga, A. |
Confidence factor and adaptive disparity range for reliable 3D reconstruction
[BibTeX] |
1999 | International Conference on Computational Intelligence for Modelling, Control and Automation | inproceedings | |
BibTeX:
@inproceedings{Torres-Torriti1999,
author = {Miguel Torres-Torriti and Andrers Guesalaga},
title = {Confidence factor and adaptive disparity range for reliable 3D reconstruction},
booktitle = {International Conference on Computational Intelligence for Modelling, Control and Automation},
year = {1999}
}
|
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| Torres-Torriti1996 | Torres-Torriti, M.; Leal, I. & Cipriano, A. |
Ambientes de simulación de sistemas robóticos (Simulation Software for Robotic Systems)
[BibTeX] |
1996 | XII Congreso de la Asociación Chilena de Control Automático | inproceedings | |
BibTeX:
@inproceedings{Torres-Torriti1996,
author = {Miguel Torres-Torriti and Ivan Leal and Aldo Cipriano},
title = {Ambientes de simulación de sistemas robóticos (Simulation Software for Robotic Systems)},
booktitle = {XII Congreso de la Asociación Chilena de Control Automático},
year = {1996}
}
|
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