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We study the problem of perceiving forest or mountain trails from a single monocular image acquired from the viewpoint of a robot traveling on the trail itself. Previous literature focused on trail segmentation, and used low-level features such as image sa ...
We present a methodology for identifying patients who have experienced Paroxysmal Atrial Fibrillation (PAF) among a given subject population. Our work is intended as an initial step towards the design of an unobtrusive portable system for concurrent detect ...
Institute of Electrical and Electronics Engineers2014
We propose a recursive algorithm for estimating time-varying signals from a few linear measurements. The signals are assumed sparse, with unknown support, and are described by a dynamical model. In each iteration, the algorithm solves an ℓ1-ℓ1 minimization ...
The agility of a robotic system is ultimately limited by the speed of its processing pipeline. The use of a Dynamic Vision Sensors (DVS), a sensor producing asynchronous events as luminance changes are perceived by its pixels, makes it possible to have a s ...
In this paper we present a method for fusing optical flow and inertial measurements. To this end, we derive a novel visual error term which is better suited than the standard continuous epipolar constraint for extracting the information contained in the op ...
Recent results in monocular visual-inertial navigation (VIN) have shown that optimization-based approaches outperform filtering methods in terms of accuracy due to their capability to relinearize past states. However, the improvement comes at the cost of i ...
This thesis describes the design and implementation of a framework that can track and identify multiple people in a crowded scene captured by multiple cameras. A people detector is initially employed to estimate the position of individuals. Those positions ...
Mobile robots suffer from sensory data corruption due to body oscillations and disturbances. In particular, information loss on images captured with onboard cameras can be very high, and such loss may become irreversible or computationally costly to undo. ...
This paper presents a framework for collaborative localization and mapping with multiple Micro Aerial Vehicles (MAVs) in unknown environments. Each MAV estimates its motion individually using an onboard, monocular visual odometry algorithm. The system of M ...
Miniature curved artificial compound eyes (CURVACE) represent a promising tool to assist in navigation of mobile robots. In particular, they feature ideal properties for minidrones to navigate safely in indoor environments due to its panoramic field of vie ...
