MAIN RESEARCH FIELDS


Topic: Computer Vision
Publication ranking (quartiles, terciles)
Article count: 48
Q1 | 24 |
Q2 | 15 |
Q3 | 1 |
Q4 | 2 |
Unknown | 6 |
T1 | 26 |
T2 | 14 |
T3 | 2 |
Unknown | 6 |
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Publications for topic "Computer Vision"
2024
Advances in 3D Range Sensors Odometry for Mobile Robotics, University of Málaga, 2024 | , and ,
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Certifiable Algorithms for 3D Computer Vision Problems, University of Málaga, 2024 | and ,
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Certifiable Planar Relative Pose Estimation with Gravity Prior (2024), in: Computer Vision and Image Understanding, 239(103887) | and ,
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Sistema multi-cámara de estimación de pose sin marcadores para pHRI (in spanish) (2024), in: Jornadas de Automática:45 | , , , and ,
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2023
Appearance-based Localization, University of Málaga, 2023 | , and ,
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Certifiable solver for real-time N-view triangulation (2023), in: IEEE Robotics and Automation Letters, 8:4(1999-2005) | and ,
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Fast certifiable relative pose estimation with gravity prior (2023), in: Artificial Intelligence | and ,
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The Robot@Home2 dataset: A new release with improved usability tools (2023), in: SoftwareX, 23(101490) | , and ,
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Towards a Voxelized Semantic Representation of the Workspace of Mobile Robots, in: Advances in Computational Intelligence. IWANN, Switzerland, pages 194--205, Springer Nature, 2023 | , , and ,
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2022
A Tighter Relaxation for the Relative Pose Problem Between Cameras (2022), in: Journal of Mathematical Imaging and Vision:64(493-505) | , and ,
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Certifiable algorithms for the two-view planar triangulation problem (2022), in: Computer Vision and Image Understanding | and ,
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LTC-Mapping, Enhancing Long-term Consistency of Object-oriented Semantic Maps in Robotics (2022), in: MDPI Sensors, 22:14 | , , , , and ,
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Método de Odometría Basada en Planos para Cámaras de Profundidad, in: XII Jornadas Nacionales de Robótica, Educación en Automática, y Bioingeniería, Malaga, Spain, 2022 | , and ,
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Robot@VirtualHome, an ecosystem of virtual environments and tools for realistic indoor robotic simulation (2022), in: Expert Systems with Applications, 208(117970) | , , , and ,
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2021
A Sufficient Condition of Optimality for the Relative Pose Problem between Cameras (2021), in: SIAM Journal on Imaging Sciences, 14:4(1617--1634) | and ,
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An Analytical Solution to the IMU Initialization Problem for Visual-Inertial Systems (2021), in: IEEE Robotics and Automation Letters (RA-L), 6:3(6116--6122) | , and ,
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Appearance-Based Sequential Robot Localization Using a Patchwise Approximation of a Descriptor Manifold (2021), in: MDPI Sensors, 21:7(2483) | , and ,
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Autonomous Docking of Mobile Robots by Reinforcement Learning Tackling the Sparse Reward Problem, chapter Advances in Computational Intelligence, pages 392-403, Springer International Publishing, Lecture Notes in Computer Science, volume 12862, 2021 | , and ,
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Certifiable relative pose estimation (2021), in: Image and Vision Computing:63 | , and ,
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D-LSD: A Distorted Line Segment Detector for Calibrated Images, pages 422--431, Springer, 2021 | , and ,
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Differences in movement limitations in different low back pain severity in functional tests using an RGB-D camera (2021), in: Journal of Biomechanics, 116(110212) | , , , , , , and ,
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Efficient semantic place categorization by a robot through active line-of-sight selection (2021), in: Knowledge-Based Systems, 240 | , and ,
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Exploiting Spatio-Temporal Coherence for Video Object Detection in Robotics, in: International Conference on Computer Analysis of Images and Patterns (CAIP), 2021 | , , , , and ,
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Fast and Robust Certifiable Estimation of the Relative Pose Between Two Calibrated Cameras (2021), in: Journal of Mathematical Imaging and Vision, 63(1036-1056) | and ,
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Global Optimality via Tight Convex Relaxations for Pose Estimation in Geometric 3D Computer Vision, University of Málaga, 2021 | and ,
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Human motion capture for movement limitation analysis using an RGB-D camera in spondyloarthritis: A validation study. (2021), in: Medical & Biological Engineering & Computing, 59(2127-2137) | , , , , , , , , and ,
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2020
A Face Recognition System for Assistive Robots, in: International Conference on Applications of Intelligent Systems (APPIS), Las Palmas de Gran Canaria (Spain), 2020 | , and ,
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Enhanced robustness of convolutional networks with a push–pull inhibition layer (2020), in: Neural Computing and Applications | , and ,
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Iris recognition algorithm based on Contourlet Transform and Entropy (2020), in: Electronic Letters on Computer Vision and Image Analysis, 19:1(53-68) | , , and ,
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Robust Visual SLAM in Challenging Environments with Low-texture and Dynamic Illumination, University of Málaga, 2020 | and ,
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The UMA-VI dataset: Visual–inertial odometry in low-textured and dynamic illumination environments (2020), in: The International Journal of Robotics Research | , , and ,
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Validation, Reliability, and Responsiveness Outcomes of Kinematic Assessment with an RGB-D Camera to Analyze Movement in Subacute and Chronic Low Back Pain (2020), in: MDPI Sensors, 20:3 | , , , , , , and ,
[DOI] |
2019
A Tutorial on Object Recognition by Machine Learning Techniques Using Python, in: INTED2019 Proceedings, Valencia, SPAIN, pages 3321-3330, IATED, 2019 | , , and ,
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Automatic Multi-Sensor Extrinsic Calibration For Mobile Robots (2019), in: IEEE Robotics and Automation Letters, 4:3(2862-2869) | , , and ,
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Computer Vision Techniques for Calibration, Localization and Recognition, Univerity of Malaga & University of Groningen, 2019 | and ,
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Deep Single Image Camera Calibration with Radial Distortion, in: IEEE Int. Conference on Computer Vision and Pattern Recognition (CVPR), Long Beach, CA, USA, pages 11817-11825, 2019 | , , , , and ,
Experimental Study of the Suitability of CNN-based Holistic Descriptors for Accurate Visual Localization, in: Proceedings of the 2Nd International Conference on Applications of Intelligent Systems, Las Palmas de Gran Canaria, Spain, pages 28:1--28:6, ACM, 2019 | , and ,
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Intrinsic Calibration of Depth Cameras for Mobile Robots using a Radial Laser Scanner, pages 659-671, Springer International Publishing, Computer Analysis of Images and Patterns. Lecture Notes in Computer Science, volume 11678, 2019 | , and ,
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Ontology-based conditional random fields for object recognition (2019), in: International Journal of Knowledge-Based Systems:168(100-108) | , , , and ,
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PL-SLAM: a Stereo SLAM System Through the Combination of Points and Line Segments (2019), in: IEEE Transactions on Robotics, 35:3(734 - 746) | , , , and ,
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Place and Object Recognition by CNN-Based COSFIRE Filters (2019), in: IEEE Access, 7(66157-66166) | , , and ,
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TB-Places: A Data Set for Visual Place Recognition in Garden Environments (2019), in: IEEE Access, 7(52277-52287) | , , , , and ,
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2018
Analyzing Interference Between RGB-D Cameras for Human Motion Tracking, in: International Conference on Applications of Intelligent Systems (APPIS), Las Palmas de Gran Canaria (Spain), 2018 | , , , and ,
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Context-aware 3D object anchoring for mobile robots (2018), in: Robotics and Autonomous Systems | , , , and ,
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Geometric-based Line Segment Tracking for HDR Stereo Sequences, in: Int. Conf. on Intelligent Robots and Systems (IROS), IEEE/RSJ, Madrid, Spain, 2018 | and ,
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Responsiveness of kinematic analysis with a motion capture camera system in axial spondyloarthritis: a protocol study, in: International Seminar on Personal Robots for Rehabilitation, 2018 | , , , , , , , , and ,
Robust Planar Odometry based on Symmetric Range Flow and Multi-Scan Alignment (2018), in: IEEE Transactions on Robotics(1623--1635) | , , and ,
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2017
A survey on learning approaches for Undirected Graphical Models. Application to scene object recognition (2017), in: International Journal of Approximate Reasoning, 83(434-451) | , and ,
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Accurate Stereo Visual Odometry with Gamma Distributions, in: IEEE International Conference on Robotics and Automation (ICRA), Singapore, IEEE, 2017 | , and ,
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An Efficient Background Term for 3D Reconstruction and Tracking with Smooth Surface Models, in: IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Hawaii, USA, 2017 | , , , and ,
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Appearance-Invariant Place Recognition by Discriminatively Training a Convolutional Neural Network (2017), in: Pattern Recognition Letters, 92(89-95) | , , and ,
[DOI] [URL] |
Calibración Extrínseca de un Conjunto de Cáamaras RGB-D sobre un Robot Móvil, in: XXXVIII Jornadas de Automática, 2017 | , , and ,
Cartan-Sync: Fast and Global SE(d)-Synchronization (2017), in: Robotics and Automation Letters | and ,
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Convex Global 3D Registration with Lagrangian Duality, in: International Conference on Computer Vision and Pattern Recognition (CVPR), Honolulu, Hawaii, 2017 | and ,
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Fast Odometry and Scene Flow from RGB-D Cameras based on Geometric Clustering, in: IEEE International Conference on Robotics and Automation (ICRA), Singapore, 2017 | , , and ,
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Initialization of 3D Pose Graph Optimization using Lagrangian duality, in: Int. Conf. on Robotics and Automation (ICRA), IEEE, Singapore, Malaysia, 2017 | and ,
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Learning-based Image Enhancement for Visual Odometry in Challenging HDR Environments, 2017 | , , and ,
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Modelado del Contexto Geométrico para el Reconocimiento de Objetos, in: Actas de las XXXVIII Jornadas de Automática, 2017 | , and ,
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Motion Estimation, 3D Reconstruction and Navigation with Range Sensors, Universidad de Málaga & Technische Universität München, 2017 | and ,
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Online Context-based Object Recognition for Mobile Robots, in: 17th International Conference on Autonomous Robot Systems and Competition (ICARSC), Coimbra, Portugal, 2017 | , , , and ,
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PL-SLAM: a Stereo SLAM System through the Combination of Points and Line Segments, 2017 | , , , and ,
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Robot@Home, a robotic dataset for semantic mapping of home environments (2017), in: The International Journal of Robotics Research, 36:2(131-141) | , and ,
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2016
A constant-time SLAM back-end in the continuum between global mapping and submapping: application to visual stereo SLAM (2016), in: International Journal of Robotics Research, 35:9(1036 -- 1056) | , and ,
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A minimal closed-form solution for the Perspective Three orthogonal Angles (P3oA) problem. Application to visual odometry. (2016), in: Journal of Mathematical Imaging and Vision, 55:3(266-283) | and ,
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An Automated Surveying and Marking System for Continuous Setting-out of Tunnels (2016), in: Computer-Aided Civil and Infrastructure Engineering, 31:3(219--228) | , , and ,
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Detección de Lugares con Camaras RGB-D. Aplicación a Cierre de Bucles en SLAM, in: Actas de las XXXVII Jornadas de Automática, Madrid, 2016 | , and ,
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Fast Global Optimality Verification in 3D SLAM, in: Int. Conf. on Intelligent Robots and Systems (IROS), IEEE/RSJ, Daejeon, Korea, pages 4630-4636, 2016 | and ,
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Image-based localization using Gaussian processes, in: Indoor Positioning and Indoor Navigation (IPIN), 2016 International Conference on, 2016 | , and ,
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PL-SVO: Semi-Direct Monocular Visual Odometry by Combining Points and Line Segments, in: Int. Conf. on Intelligent Robots and Systems (IROS), IEEE/RSJ, Daejeon, Korea, pages 4211-4216, 2016 | , and ,
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Planar Odometry from a Radial Laser Scanner. A Range Flow-based Approach, in: IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, pages 4479-4485, 2016 | , and ,
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Robust Stereo Visual Odometry through a Probabilistic Combination of Points and Line Segments, in: 2016 IEEE International Conference on Robotics and Automation (ICRA), IEEE, Stockholm, Sweden, pages 2521 - 2526, 2016 | and ,
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Scene Structure Registration for Localization and Mapping (2016), in: Robotics and Autonomous Systems, 75 (Part B)(649--660) | , , and ,
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2015
A minimal solution for the Calibration of a 2D Laser-Rangefinder and a Camera based on Scene Corners, in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, IEEE, Hamburg, Germany, pages 1891 - 1896, 2015 | and ,
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A Primal-Dual Framework for Real-Time Dense RGB-D Scene Flow, in: IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, pages 98-104, 2015 | , , and ,
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Exploiting Semantic Knowledge for Robot Object Recognition (2015), in: Knowledge-Based Systems, 86(131--142) | , and ,
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Extrinsic Calibration of 2D Laser Rangefinders from Perpendicular Plane Observations (2015), in: International Journal of Robotics Research, 34:11(1401--1417) | , and ,
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Extrinsic Calibration of a 2D Laser-Rangefinder and a Camera based on Scene Corners, in: IEEE International Conference on Robotics and Automation (ICRA), IEEE, Seattle, USA, pages 3611--3616, 2015 | , , and ,
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Extrinsic Calibration of a Set of 2D Laser Rangefinders, in: International Conference on Robotics and Automation, IEEE, Seattle, Washington (USA), 2015 | , and ,
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Fast Visual Odometry for 3-D Range Sensors (2015), in: IEEE Transactions on Robotics, 31:4(809 - 822) | and ,
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Hybrid Metric-Topological Mapping for Large Scale Monocular SLAM, pages 217-232, Springer International Publishing, Lecture Notes in Electrical Engineering, volume 325, 2015 | , and ,
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Joint Categorization of Objects and Rooms for Mobile Robots, in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015 | , and ,
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Motion Cooperation: Smooth Piece-Wise Rigid Scene Flow from RGB-D Images, in: International Conference on 3D Vision, Lyon, France, pages 64-72, 2015 | , , , and ,
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OLT: A Toolkit for Object Labeling Applied to Robotic RGB-D Datasets, in: European Conference on Mobile Robots, Lincoln, UK, 2015 | , and ,
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Scene Object Recognition for Mobile Robots Through Semantic Knowledge and Probabilistic Graphical Models (2015), in: Expert Systems with Applications, 42:22(8805--8816) | , and ,
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Stereo Visual SLAM for Mobile Robots Navigation, University of Malaga, 2015 | , and ,
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Training a Convolutional Neural Network for Appearance-Invariant Place Recognition, 2015 | , , and ,
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UPGMpp: a Software Library for Contextual Object Recognition, in: 3rd. Workshop on Recognition and Action for Scene Understanding (REACTS), 2015 | , and ,
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2014
A Compact Planar Patch Descriptor Based on Color, in: International Conference on Informatics in Control, Automation and Robotics (ICINCO), Vienna (Austria), 2014 | , and ,
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Contributions to Metric-Topological Localization and Mapping in Mobile Robotics, PhD. in Electrical Engineering, University of Malaga, 2014 | , and ,
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Extrinsic calibration of a set of range cameras in 5 seconds without pattern, in: International Conference on Intelligent Robots and Systems, IEEE/RSJ, Chicago, Illinois, 2014 | , , and ,
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Mobile Robot Object Recognition through the Synergy of Probabilistic Graphical Models and Semantic Knowledge, in: European Conf. on Artificial Intelligence. Workshop on Cognitive Robotics, 2014 | , and ,
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The Málaga Urban Dataset: High-rate Stereo and Lidars in a realistic urban scenario (2014), in: International Journal of Robotics Research, 33:2(207-214) | , and ,
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2013
Creating Metric-Topological Maps for Large-Scale Monocular SLAM, in: 10th International Conference on Informatics in Control, Automation and Robotics (ICINCO), Reykjavík (Iceland), 2013 | , and ,
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Detección de Cambios en Imágenes de Satélite de Alta Resolución, Master Thesis, University of Malaga, 2013 | ,
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ERODE: An Efficient and Robust Outlier Detector and its Application to Stereovisual Odometry, in: IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, pages 4676 -- 4682, IEEE, 2013 | , and ,
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Fast place recognition with plane-based maps, in: IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe (Germany), 2013 | , , and ,
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Improving 2D Reactive Navigators with Kinect, in: 10th International Conference on Informatics in Control, Automation and Robotics (ICINCO), Reykjavic, Iceland, 2013 | , and ,
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2011
Aprendizaje Colaborativo de los Estudiantes. Experiencia en la Asignatura “Visión por Computador” -Ingeniero en Informática- (in spanish), in: 2º Congreso Internacional sobre el Uso y Buenas Prácticas con TIC, Universidad de Málaga, Grupo de Investigación GTEA y Dpto. de Didáctica y Organización Escolar, Málaga (Spain), 2011 | and ,
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Collaborative Problem-Based Learning. Experience in the “Computer Vision” Course (Computer Engineering Degree), in: 4th International Conference of Education, Research and Innovation (ICERI'11), Madrid (Spain), 2011 | and ,
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Improving Human Face Detection through TOF Cameras for Ambient Intelligence Applications, 2011 | , and ,
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Partición de Mapas para SLAM Monocular en Gran Escala (in spanish), in: III Workshop de Robótica: Robótica Experimental, Grupo de Robótica Visión de Control (GRVC) de la Universidad de Sevilla y la Universidad Pablo Olavide, Centro Avanzado de Tecnologías Aeroespaciales (FADA-CATEC)., Sevilla, 2011 | , and ,
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2010
A Method for Robust Extraction of Control Points on High-Resolution Satellite Images, in: 100 Years ISPRS - Advancing Remote Sensing Science, Technical Commission VII Symposium, Viena (Austria), International Society for Photogrammetry and Remote Sensing (ISPRS), 2010 | , and ,
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Colour image segmentation using hierarchical analysis of 2D- histograms. Application to urban land cover and land use classification (2010), in: Geo Observateur:18 | , , and ,
Mesh Topological Optimization for Improving Piecewise-Linear Image Registration (2010), in: Journal of Mathematical Imaging and Vision, 37:2(166-182) | and ,
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2009
A Collection of Outdoor Robotic Datasets with centimeter-accuracy Ground Truth (2009), in: Autonomous Robots, 27:4(327--351) | , and ,
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Robust Extraction of Control-Point Pairs for Registering High-Resolution Satellite Images, Dept. of System Engineering and Automation, University of Málaga (Spain), 2009 | and ,
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Ship Detection and Recognition in High-Resolution Satellite Images, in: IEEE International Geoscience & Remote Sensing Symposium, IGARSS'09, Cape Town, South Africa, IEEE, 2009 | , , and ,
Stereo vision-specific models for Particle Filter-based SLAM (2009), in: Robotics and Autonomous Systems, 57:9(955--970) | , and ,
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Swimming Pools Localization in Colour High-Resolution Satellite Images, in: IEEE International Geoscience & Remote Sensing Symposium, IGARSS'09, Cape Town, South Africa, IEEE, 2009 | , , and ,
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Using a Coarse DTM for Effectively Distribute Control-Point Pairs in High-Resolution Satellite Imagery, Dept. of System Engineering and Automation, University of Málaga (Spain), 2009 | and ,
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2008
An Experimental Evaluation of Non-Rigid Registration Techniques on QuickBird Satellite Imagery (2008), in: International Journal of Remote Sensing, 29:2(513--527) | and ,
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Improving Piecewise-Linear Registration of High-Resolution satellite Images through Mesh Optimization (2008), in: IEEE Transactions on Geoscience and Remote Sensing, 46:11(3792--3803) | and ,
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Registro de Imágenes mediante Transformaciones Lineales por Trozos (in spanish), PhD Thesis in Computer Science, University of Malaga, Spain, 2008 | and ,
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Shadow Detection in Colour High-Resolution Satellite Images (2008), in: International Journal of Remote Sensing, 29:7(1945-1963) | , and ,
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2007
A Probabilistic Observation Model for Stereo Vision Systems: Application to Particle Filter-Based Mapping and Localization, pages 346--353, Springer-Verlag, LNCS (3rd Iberian Conference on Pattern Recognition and Im. An.), volume 4477, 2007 | , and ,
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A Verstaile Low-Cost Plate Recognition System, in: International Symposium on Signal Processing and its Applications (ISSPA'07), Sharja (U.A.E.), 2007 | , , and ,
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An Efficient Closed-form Solution to Probabilistic 6D Visual Odometry for a Stereo Camera, pages 932--942, Springer-Verlag Berlin Heidelberg, LNCS (from Advanced Concepts for Intelligent Vision Systems), volume 4678, 2007 | , and ,
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Applying Image Analysis and Probabilistic Techniques for Counting Olive Trees in High-resolution Satellite Images, chapter -, pages 920--931, Springer-Verlag Berlin Heidelberg, Lecture Notes on Computer Science (from Advanced Concepts for I, volume 4678, 2007 | , , and ,
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Improving Piecewise-Linear Registration through Mesh Optimization, pages 122--129, Springer-Verlag, LNCS, volume 4478, 2007 | and ,
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Una Formulación Cerrada para Odometría Visual Probabilística en 6D con una Cámara Estéreo (in Spanish), in: XXVIII Jornadas de Automática, 2007 | , and ,
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2006
A Comparison of Registration Techniques on QuickBird Satellite Images, in: ISPRS Mid-term Symposium 2006. Remote Sensing: From Pixels to Processes, pages CD--ROM, 2006 | and ,
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Detección de Sombras en Imágenes de Satélite de Alta Resolución QuickBird (in spanish), in: XXVII Jornadas de Automática, pages 1306--1312, 2006 | , and ,
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Detecting Shadows in QuickBird Satellite Images, in: ISPRS Mid-term Symposium 2006. Remote Sensing: From Pixels to Processes, pages CD--ROM, 2006 | , , and ,
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Reconocimiento Automática de Matrículas usando Operadores Morfológicos y Múltiples Redes Neuronales (in spanish), in: XXVII Jornadas de Automática, Almería (Spain), 2006 | , , and ,
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Un Enfoque Probabilístico para la Estimación del Desplazamiento de un Robot Móvil Dotado de Visión Estéreo (in Spanish), in: XXVII Jornadas de Automática, Almería (Spain), 2006 | , , , and ,
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2005
Extracción de Grupos Perceptuales en Imágenes a Partir de Técnicas de partición Espectral de Grafos (in Spanish), in: XXVI Jornadas de Automática, Alicante (Spain), 2005 | , , , and ,
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Registro de Imágenes Digitales. Aplicación a la Medicina (in spanish), in: Reunión sobre Imagen y Visión, Cátedra de Telemedicina de la Universidad de Santiago de Compostela, Santiago de Compostela (Spain), 2005 | and ,
Registro Elástico de Imágenes de Satélite de Alta Resolución Mediante Optimización de Redes Triangulares (in spanish), in: XXVI Jornadas de Automática, pages 1135--1141, 2005 | , and ,
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2004
Corrección Geométrica de Imágenes de Satélite de Distinta Resolución (in spanish), in: XII Congreso de Métodos Cuantitativos, Sistemas de Información Geográfica y Teledetección, Murcia (Spain), pages 247--260, 2004 | , and ,
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La Librería de Visión Artificial OpenCV. Aplicación a la Docencia e Investigación (in spanish), in: The Open Source International Conference, pages CD--ROM, 2004 | , and ,
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La Librería de Visión Artificial OpenCV. Aplicación a la Docencia e Investigación (in spanish), 2004 | , and ,
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2003
Comparación de Imágenes de Satélite para la Detección de Cambios Temporales (in spanish), in: XXIV Jornadas de Automática, 10-12 Septiembre del 2003, León (Spain), 2003 | , and ,
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2002
Corrección Radiométrica y Geométrica de Imágenes para la Detección de Cambios en una Serie Temporal (in spanish), in: X Congreso de Métodos Cuantitativos, Sistemas de Información Geográfica y Teledetección, Valladolid, 2002 | , and ,
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2001
Automatic Urban Change Detection from the IRS-1D PAN, in: IEEE-ISPRS Joint Workshop on Remote Sensing and Data Fusion over Urban Areas, pages 320--323, 2001 | , and ,
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Detección Automática de Cambios Urbanos a partir de Imágenes de Satélite (in spanish), Master thesis, E.T.S.I. Informatica, University of Malaga, Spain, 2001 | ,
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2000
Extracting and Matching Perceptual Groups for Hierarchical Stereo Vision, in: Int. Conference on Pattern Recognition (ICPR’00), Barcelona, Spain, 2000 | and ,
1999
Visión por Computador (in Spanish), Thomson Paraninfo, 1999 | ,
1996
Localizing Mobile Robots with a Single Camera in Structured Environments, in: Int. Symp. on Robotics and Manufacturing in the World Automation Congress (WAC’96), Montpellier, France, 1996 | and ,