WISER: Building and exploiting semantic maps by mobile robots(Jun’18–Dec’20)
National Project
National Project
The purpose of project is to provide the robot with the capability to understand the environment by building object-based maps (i.e. semantic maps) that can latter be used to carry out high-level tasks. Thus, it will work on semantic SLAM with the focus on different challenging, open issues.
The recognition of objects from the environment is an esential task for a robot to perform intelligently and for interacting with people. In real conditions this becomes a very dificult problem due to the number of possible object classes, as well as the poor adquisition conditions that the robot may encounter: occlusions, changing lighting conditions, very different apperances for 3D objects, etc. To face the complexity of the problem, we can take advantage of the possibilities that a robot offers, including active perception (i.e, to plan viewpoints that enhance the objetc recognition), and to use all the information that it may have about the workspace, like a map built previously.
To create an useful object-based model of the environment, not only the robot needs to recognize objects, but to compute their poses in the world, that is, with respect to itself while keeping a perfect self-localization. Moreover, these objects must be linked to relevant information like their properties and functionality, commonly called semantic information.
The purpose of this project is to advance in this direction by providing the robot with the capability to understand the environment by building object-based maps (i.e. semantic maps) that can latter be used to carry out high-level tasks. Thus, we will work on semantic SLAM (Simultaneous localization and mapping) with the focus on:
- Developing algorithms for object recognition and pose estimation, particularly by resorting on CNN (Convolutional Neural Networks).
- The integration and maintainance over time of the semantic information along with the topological, the geometrical and the appearance.
- The investigation of mechanisms for active perception to overcome occlusion and ambiguity situations.
- The exploitation of the semantic maps for assisting people (e.g. finding objects).
The sensorial system to be used comprises one or several RGB-D cameras onboard the robot, thus effective and quick autocalibration procedures will be developed.
REFERENCE: DPI2017-84827-R
FUNDED BY: Ministry of Economy and Competitiveness
PERIOD: Jan 2018 – Dec 2020
PRINCIPAL RESEARCHER: JAVIER GONZÁLEZ-JIMÉNEZ
INSTITUTION: University of Málaga
Publications
Publications in the scope of this project:
Contents
Journals (18)
2022
M. Garcia-Salguero, J. Gonzalez-Jimenez
Certifiable algorithms for the two-view planar triangulation problem
Computer Vision and Image Understanding, 2022. Q2 · T2
@article{garciasalguero2022b,
title = {Certifiable algorithms for the two-view planar triangulation problem},
author = {Garcia-Salguero, Mercedes and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/papersrepo/2022/2022_mercedes_CVIU_2view_planar_triangulation.pdf},
doi = {10.1016/j.cviu.2022.103570},
year = {2022},
date = {2022-10-01},
journal = {Computer Vision and Image Understanding},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
D. Fernandez-Chaves, J.R. Ruiz-Sarmiento, A. Jaenal, N. Petkov, J. Gonzalez-Jimenez
Expert Systems with Applications, vol. 208, pp. 117970, 2022, ISSN: 0957-4174. Q1 · T1
@article{fernandez2022eswa,
title = {Robot@VirtualHome, an ecosystem of virtual environments and tools for realistic indoor robotic simulation},
author = {Fernandez-Chaves, David and Ruiz-Sarmiento, J. R. and Jaenal, Alberto and Petkov, Nicolai and Gonzalez-Jimenez, Javier},
url = {https://www.sciencedirect.com/science/article/pii/S0957417422012015},
doi = {10.1016/j.eswa.2022.117970},
issn = {0957-4174},
year = {2022},
date = {2022-01-01},
journal = {Expert Systems with Applications},
volume = {208},
pages = {117970},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
2021
J.L. Matez-Bandera, J. Monroy, J. Gonzalez-Jimenez
Efficient semantic place categorization by a robot through active line-of-sight selection
Knowledge-Based Systems, vol. 240, 2021, ISSN: 0950-7051. Q1 · T1
@article{matez2021,
title = {Efficient semantic place categorization by a robot through active line-of-sight selection},
author = {Matez-Bandera, J. L and Monroy, Javier and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/papersrepo/2021/2021_matez_KBS_semantic_place_categorization.pdf},
doi = {10.1016/j.knosys.2021.108022},
issn = {0950-7051},
year = {2021},
date = {2021-12-01},
journal = {Knowledge-Based Systems},
volume = {240},
abstract = {In this paper, we present an attention mechanism for mobile robots to face the problem of place categorization. Our approach, which is based on active perception, aims to capture images with characteristic or distinctive details of the environment that can be exploited to improve the efficiency (quickness and accuracy) of the place categorization. To do so, at each time moment, our proposal selects the most informative view by controlling the line-of-sight of the robot’s camera through a pan-only unit. We root our proposal on an information maximization scheme, formalized as a next-best-view problem through a Markov Decision Process (MDP) model. The latter exploits the short-time estimated navigation path of the robot to anticipate the next robot’s movements and make consistent decisions. We demonstrate over two datasets, with simulated and real data, that our proposal generalizes well for the two main paradigms of place categorization (object-based and image-based), outperforming typical camera-configurations (fixed and continuously-rotating) and a pure-exploratory approach, both in quickness and accuracy.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
M. Garcia-Salguero, J. Gonzalez-Jimenez
Fast and Robust Certifiable Estimation of the Relative Pose Between Two Calibrated Cameras
Journal of Mathematical Imaging and Vision, vol. 63, pp. 1036-1056, 2021. Q2 · T2
@article{garciasalguero2021b,
title = {Fast and Robust Certifiable Estimation of the Relative Pose Between Two Calibrated Cameras},
author = {Garcia-Salguero, Mercedes and Gonzalez-Jimenez, Javier},
url = {https://arxiv.org/pdf/2101.08524.pdf},
doi = {10.1007/s10851-021-01044-0},
year = {2021},
date = {2021-06-01},
journal = {Journal of Mathematical Imaging and Vision},
volume = {63},
pages = {1036-1056},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
P. Ojeda, J. Monroy, J. Gonzalez-Jimenez
A Simulation Framework for the Integration of Artificial Olfaction into Multi-Sensor Mobile Robots
MDPI Sensors, vol. 21, no. 6, pp. 2041, 2021, ISSN: 1424-8220. Q2 · T1
@article{ojeda_2021_sensors,
title = {A Simulation Framework for the Integration of Artificial Olfaction into Multi-Sensor Mobile Robots},
author = {Ojeda, Pepe and Monroy, Javier and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/papersrepo/2021/2021_ojeda_sensors_gaden_unity.pdf},
doi = {10.3390/s21062041},
issn = {1424-8220},
year = {2021},
date = {2021-03-01},
journal = {MDPI Sensors},
volume = {21},
number = {6},
pages = {2041},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
M. Garcia-Salguero, J. Briales, J. Gonzalez-Jimenez
Certifiable relative pose estimation
Image and Vision Computing, no. 63, 2021, ISSN: 0262-8856. Q1 · T1
@article{garciasalguero2021,
title = {Certifiable relative pose estimation},
author = {Garcia-Salguero, Mercedes and Briales, Jesus and Gonzalez-Jimenez, Javier},
url = {https://arxiv.org/pdf/2003.13732.pdf},
doi = {10.1016/j.imavis.2021.104142},
issn = {0262-8856},
year = {2021},
date = {2021-02-01},
journal = {Image and Vision Computing},
number = {63},
abstract = {In this paper we present the first fast optimality certifier for the non-minimal version of the Relative Pose problem for calibrated cameras from epipolar constraints. The proposed certifier is based on Lagrangian duality and relies on a novel closed-form expression for dual points. We also leverage an efficient solver that performs local optimization on the manifold of the original problem's non-convex domain. The optimality of the solution is then checked via our novel fast certifier. The extensive conducted experiments demonstrate that, despite its simplicity, this certifiable solver performs excellently on synthetic data, repeatedly attaining the (certified a posteriori) optimal solution and shows a satisfactory performance on real data.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
M. Garcia-Salguero, J. Gonzalez-Jimenez
A Sufficient Condition of Optimality for the Relative Pose Problem between Cameras
SIAM Journal on Imaging Sciences, vol. 14, no. 4, pp. 1617–1634, 2021. Q2 · T1
@article{garciasalguero2021c,
title = {A Sufficient Condition of Optimality for the Relative Pose Problem between Cameras},
author = {Garcia-Salguero, Mercedes and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/papersrepo/2021/2021_mercedes_SIAM_suff_cond_rpp_paper.pdf},
doi = {10.1137/21M1397970},
year = {2021},
date = {2021-01-01},
journal = {SIAM Journal on Imaging Sciences},
volume = {14},
number = {4},
pages = {1617--1634},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
P. Ojeda, J. Monroy, J. Gonzalez-Jimenez
IEEE Robotics and Automation Letters (RAL), vol. 6, no. 2, pp. 1320-1326, 2021. Q2 · T2
@article{ojeda_2021_ral,
title = {Information-driven Gas Source Localization Exploiting Gas and Wind Local Measurements for Autonomous Mobile Robots},
author = {Ojeda, Pepe and Monroy, Javier and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/papersrepo/2021/2021_ojeda_ral_information_driven_gsl.pdf},
doi = {10.1109/LRA.2021.3057290},
year = {2021},
date = {2021-01-01},
journal = {IEEE Robotics and Automation Letters (RAL)},
volume = {6},
number = {2},
pages = {1320-1326},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
D. Fernandez-Chaves, J.R. Ruiz-Sarmiento, N. Petkov, J. Gonzalez-Jimenez
ViMantic, a distributed robotic architecture for semantic mapping in indoor environments
International Journal of Knowledge-Based Systems, pp. 107440, 2021, ISSN: 0950-7051. Q1 · T1
@article{david2021kbs,
title = {ViMantic, a distributed robotic architecture for semantic mapping in indoor environments},
author = {Fernandez-Chaves, David and Ruiz-Sarmiento, J. R. and Petkov, Nicolai and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/papersrepo/2021/2021_fernandezchaves_KBS_vimantic.pdf
https://www.sciencedirect.com/science/article/pii/S0950705121007024},
doi = {10.1016/j.knosys.2021.107440},
issn = {0950-7051},
year = {2021},
date = {2021-01-01},
journal = {International Journal of Knowledge-Based Systems},
pages = {107440},
abstract = {Semantic maps augment traditional representations of robot workspaces, typically based on their geometry and/or topology, with meta-information about the properties, relations and functionalities of their composing elements. A piece of such information could be: fridges are appliances typically found in kitchens and employed to keep food in good condition. Thereby, semantic maps allow for the execution of high-level robotic tasks in an efficient way, e.g. “Hey robot, Store the leftover salad”. This paper presents ViMantic, a novel semantic mapping architecture for the building and maintenance of such maps, which brings together a number of features as demanded by modern mobile robotic systems, including: (i) a formal model, based on ontologies, which defines the semantics of the problem at hand and establishes mechanisms for its manipulation; (ii) techniques for processing sensory information and automatically populating maps with, for example, objects detected by cutting-edge CNNs; (iii) distributed execution capabilities through a client–server design, making the knowledge in the maps accessible and extendable to other robots/agents; (iv) a user interface that allows for the visualization and interaction with relevant parts of the maps through a virtual environment; (v) public availability, hence being ready to use in robotic platforms. The suitability of ViMantic has been assessed using Robot@Home, a vast repository of data collected by a robot in different houses. The experiments carried out consider different scenarios with one or multiple robots, from where we have extracted satisfactory results regarding automatic population, execution times, and required size in memory of the resultant semantic maps.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
2020
D. Zuñiga-Noël, A. Jaenal, R. Gomez-Ojeda, J. Gonzalez-Jimenez
The UMA-VI dataset: Visual–inertial odometry in low-textured and dynamic illumination environments
The International Journal of Robotics Research, 2020.
@article{zuniga2020ijrr,
title = {The UMA-VI dataset: Visual–inertial odometry in low-textured and dynamic illumination environments},
author = {Zuñiga-Noël, David and Jaenal, Alberto and Gomez-Ojeda, Ruben and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/papersrepo/2020/2020_The_UMA-VI_dataset_Visual%e2%80%93inertial_odometry_in_low-textured_and_dynamic_illumination_environments.pdf
https://journals.sagepub.com/doi/10.1177/0278364920938439},
doi = {10.1177/0278364920938439},
year = {2020},
date = {2020-07-01},
journal = {The International Journal of Robotics Research},
abstract = {This article presents a visual–inertial dataset gathered in indoor and outdoor scenarios with a handheld custom sensor rig, for over 80 min in total. The dataset contains hardware-synchronized data from a commercial stereo camera (Bumblebee®2), a custom stereo rig, and an inertial measurement unit. The most distinctive feature of this dataset is the strong presence of low-textured environments and scenes with dynamic illumination, which are recurrent corner cases of visual odometry and simultaneous localization and mapping (SLAM) methods. The dataset comprises 32 sequences and is provided with ground-truth poses at the beginning and the end of each of the sequences, thus allowing the accumulated drift to be measured in each case. We provide a trial evaluation of five existing state-of-the-art visual and visual–inertial methods on a subset of the dataset. We also make available open-source tools for evaluation purposes, as well as the intrinsic and extrinsic calibration parameters of all sensors in the rig. The dataset is available for download at https://mapir.isa.uma.es/work/uma-visual-inertial-dataset},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
F.A. Moreno, J. Monroy, J.R. Ruiz-Sarmiento, C. Galindo, J. Gonzalez-Jimenez
Automatic Waypoint Generation to Improve Robot Navigation Through Narrow Spaces
MDPI Sensors, vol. 20, no. 1, 2020, ISSN: 1424-8220. Q1 · T1
@article{moreno_etal_2020_sensors,
title = {Automatic Waypoint Generation to Improve Robot Navigation Through Narrow Spaces},
author = {Moreno, Francisco-Angel and Monroy, Javier and Ruiz-Sarmiento, J. R. and Galindo, Cipriano and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/papersrepo/2020/2020_moreno_waypoint_generation_sensors-20-00240.pdf},
doi = {10.3390/s20010240},
issn = {1424-8220},
year = {2020},
date = {2020-01-01},
journal = {MDPI Sensors},
volume = {20},
number = {1},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
A. Gongora, J. Monroy, J. Gonzalez-Jimenez
Joint Estimation of Gas & Wind Maps for Fast-Response Applications
Applied Mathematical Modelling, 2020, ISSN: 0307-904X. Q1 · T1
@article{gongora2020,
title = {Joint Estimation of Gas & Wind Maps for Fast-Response Applications},
author = {Gongora, Andres and Monroy, Javier and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/papersrepo/2020/2020_gongora_AMM_joint_stimation_gaswind_maps.pdf},
doi = {10.1016/j.apm.2020.06.026},
issn = {0307-904X},
year = {2020},
date = {2020-01-01},
journal = {Applied Mathematical Modelling},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
2019
D. Zuñiga-Noël, J.R. Ruiz-Sarmiento, R. Gomez-Ojeda, J. Gonzalez-Jimenez
Automatic Multi-Sensor Extrinsic Calibration For Mobile Robots
IEEE Robotics and Automation Letters, vol. 4, no. 3, pp. 2862-2869, 2019. Q1 · T1
@article{zuniga2019ral,
title = {Automatic Multi-Sensor Extrinsic Calibration For Mobile Robots},
author = {Zuñiga-Noël, David and Ruiz-Sarmiento, J. R. and Gomez-Ojeda, Ruben and Gonzalez-Jimenez, Javier},
doi = {10.1109/LRA.2019.2922618},
year = {2019},
date = {2019-07-01},
journal = {IEEE Robotics and Automation Letters},
volume = {4},
number = {3},
pages = {2862-2869},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
R. Gomez-Ojeda, F.A. Moreno, D. Zuñiga-Noël, D. Scaramuzza, J. Gonzalez-Jimenez
PL-SLAM: a Stereo SLAM System Through the Combination of Points and Line Segments
IEEE Transactions on Robotics, vol. 35, no. 3, pp. 734 - 746, 2019, ISSN: 1552-3098. Q1 · T1
@article{gomez2019pss,
title = {PL-SLAM: a Stereo SLAM System Through the Combination of Points and Line Segments},
author = {Gomez-Ojeda, Ruben and Moreno, Francisco-Angel and Zuñiga-Noël, David and Scaramuzza, Davide and Gonzalez-Jimenez, Javier},
url = {https://ieeexplore.ieee.org/abstract/document/8680013},
doi = {10.1109/TRO.2019.2899783},
issn = {1552-3098},
year = {2019},
date = {2019-06-01},
journal = {IEEE Transactions on Robotics},
volume = {35},
number = {3},
pages = {734 - 746},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
J.R. Ruiz-Sarmiento, C. Galindo, J. Monroy, F.A. Moreno, J. Gonzalez-Jimenez
Ontology-based conditional random fields for object recognition
International Journal of Knowledge-Based Systems, no. 168, pp. 100-108, 2019. Q1 · T1
@article{raul2018kbs,
title = {Ontology-based conditional random fields for object recognition},
author = {Ruiz-Sarmiento, J. R. and Galindo, Cipriano and Monroy, Javier and Moreno, Francisco-Angel and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/papersrepo/2019/2019-raul-KBS-Ontology_based_Conditional_Random_Fields.pdf},
doi = {/10.1016/j.knosys.2019.01.005},
year = {2019},
date = {2019-03-01},
journal = {International Journal of Knowledge-Based Systems},
number = {168},
pages = {100-108},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
M. Garcia-Salguero, J. Gonzalez-Jimenez, F.A. Moreno
Human 3D Pose Estimation with a Tilting Camera for Social Mobile Robot Interaction
Sensors, vol. 19, no. 22: 4943, 2019. Q1 · T1
@article{2019garciasalgueroHPE,
title = {Human 3D Pose Estimation with a Tilting Camera for Social Mobile Robot Interaction},
author = {Garcia-Salguero, Mercedes and Gonzalez-Jimenez, Javier and Moreno, Francisco-Angel},
url = {https://mapir.isa.uma.es/papersrepo/2019/2019_mercedes_SENSORS_HPE.pdf},
doi = {10.3390/s19224943},
year = {2019},
date = {2019-01-01},
journal = {Sensors},
volume = {19},
number = {22: 4943},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
2018
M. Günther, J.R. Ruiz-Sarmiento, C. Galindo, J. Gonzalez-Jimenez, J. Hertzberg
Context-aware 3D object anchoring for mobile robots
Robotics and Autonomous Systems, 2018. Q2 · T2
@article{GuentherRGGH2018ras,
title = {Context-aware 3D object anchoring for mobile robots},
author = {Günther, Martin and Ruiz-Sarmiento, J. R. and Galindo, Cipriano and Gonzalez-Jimenez, Javier and Hertzberg, Joachim},
doi = {10.1016/j.robot.2018.08.016},
year = {2018},
date = {2018-09-01},
journal = {Robotics and Autonomous Systems},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
J. Monroy, J.R. Ruiz-Sarmiento, F.A. Moreno, F. Melendez-Fernandez, C. Galindo, J. Gonzalez-Jimenez
A Semantic-Based Gas Source Localization with a Mobile Robot Combining Vision and Chemical Sensing
Sensors, vol. 18, no. 12, 2018, ISSN: 1424-8220. Q1 · T1
@article{monroy2018sensors,
title = {A Semantic-Based Gas Source Localization with a Mobile Robot Combining Vision and Chemical Sensing},
author = {Monroy, Javier and Ruiz-Sarmiento, J. R. and Moreno, Francisco-Angel and Melendez-Fernandez, Francisco and Galindo, Cipriano and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/papersrepo/2018/2018_monroy_SENSORS_semantic_gas_source_localization.pdf},
doi = {10.3390/s18124174},
issn = {1424-8220},
year = {2018},
date = {2018-01-01},
journal = {Sensors},
volume = {18},
number = {12},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Book Chapters (6)
2021
A.M. Burgueño, J.R. Ruiz-Sarmiento, J. Gonzalez-Jimenez
Autonomous Docking of Mobile Robots by Reinforcement Learning Tackling the Sparse Reward Problem
vol. 12862, Chapter Advances in Computational Intelligence, pp. 392-403, Springer International Publishing, Cham, 2021, ISBN: 978-3-030-85099-9.
@inbook{burgeno2021docking,
title = {Autonomous Docking of Mobile Robots by Reinforcement Learning Tackling the Sparse Reward Problem},
author = {Burgueño, A. M. and Ruiz-Sarmiento, J. R. and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/papersrepo/2021/2021_burgeno_IWAN_Autonomous_docking_of_mobile_robots.pdf},
doi = {10.1007/978-3-030-85099-9_32},
isbn = {978-3-030-85099-9},
year = {2021},
date = {2021-01-01},
volume = {12862},
pages = {392-403},
publisher = {Springer International Publishing},
address = {Cham},
chapter = {Advances in Computational Intelligence},
series = {Lecture Notes in Computer Science},
keywords = {},
pubstate = {published},
tppubtype = {inbook}
}
2019
D. Fernandez-Chaves, J.R. Ruiz-Sarmiento, N. Petkov, J. Gonzalez-Jimenez
Integration of CNN into a Robotic Architecture to Build Semantic Maps of Indoor Environments
vol. 11507, pp. 313–324, Springer, Cham, 2019, ISBN: 978-3-030-20517-1.
@inbook{davfercha_IWANN_2019_integration,
title = {Integration of CNN into a Robotic Architecture to Build Semantic Maps of Indoor Environments},
author = {Fernandez-Chaves, David and Ruiz-Sarmiento, J. R. and Petkov, Nicolai and Gonzalez-Jimenez, Javier},
url = {https://drive.google.com/uc?id=1ed-sxK8OPM7fG1rwqp_y0GGKxBC8DktF&export=download&authuser=0},
doi = {10.1007/978-3-030-20518-8_27},
isbn = {978-3-030-20517-1},
year = {2019},
date = {2019-05-01},
volume = {11507},
pages = {313--324},
publisher = {Springer, Cham},
series = {Advances in Computational Intelligence. IWANN 2019. Lecture Notes in Computer Science},
abstract = {In robotics, semantic mapping refers to the construction ofa rich representation of the environment that includes high level infor-mation needed by the robot to accomplish its tasks. Building a semanticmap requires algorithms to process sensor data at different levels: geo-metric, topological and object detections/categories, which must be inte-grated into an unified model. This paper describes a robotic architecturethat successfully builds such semantic maps for indoor environments. Forthis purpose, within a ROS-based ecosystem, we apply a state-of-the-artConvolutional Neural Network (CNN), concretely YOLOv3, for detect-ing objects in images. The detection results are placed within a geometricmap of the environment making use of a number of modules of the ar-chitecture: robot localization, camera extrinsic calibration, data form adepth camera, etc. We demonstrate the suitability of the proposed frame-work by building semantic maps of several home environments from theRobot@Home dataset, using Unity 3D as a tool to visualize the maps aswell as to provide future robotic developments.},
keywords = {},
pubstate = {published},
tppubtype = {inbook}
}
D. Zuñiga-Noël, J.R. Ruiz-Sarmiento, J. Gonzalez-Jimenez
Intrinsic Calibration of Depth Cameras for Mobile Robots using a Radial Laser Scanner
vol. 11678, pp. 659-671, Springer International Publishing, 2019, ISBN: 978-3-030-29888-3.
@inbook{zuniga2019caip,
title = {Intrinsic Calibration of Depth Cameras for Mobile Robots using a Radial Laser Scanner},
author = {Zuñiga-Noël, David and Ruiz-Sarmiento, J. R. and Gonzalez-Jimenez, Javier},
doi = {10.1007/978-3-030-29888-3_54},
isbn = {978-3-030-29888-3},
year = {2019},
date = {2019-01-01},
volume = {11678},
pages = {659-671},
publisher = {Springer International Publishing},
series = {Computer Analysis of Images and Patterns. Lecture Notes in Computer Science},
keywords = {},
pubstate = {published},
tppubtype = {inbook}
}
2018
J.R. Ruiz-Sarmiento, J. Monroy, F.A. Moreno, J.M. Bonelo, J. Gonzalez-Jimenez
Frontiers in Artificial Intelligence and Applications (FAIA), IOS Press, pp. 122 - 133, IOS Press, 2018.
@inbook{ruizsarmiento_faia18,
title = {Analysis of Data from the Industrial Machinery within the Hot Rolling Process for Predictive Maintenance},
author = {Ruiz-Sarmiento, J. R. and Monroy, Javier and Moreno, Francisco-Angel and Bonelo, J. M. and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/papersrepo/2018/2018-raul-FAIA-Analysis_of_Data_from_the_Industrial_Machinery_within_the_Hot_Rolling_Process.pdf},
doi = {10.3233/978-1-61499-929-4-122},
year = {2018},
date = {2018-01-01},
booktitle = {Frontiers in Artificial Intelligence and Applications (FAIA), IOS Press},
pages = {122 - 133},
publisher = {IOS Press},
keywords = {},
pubstate = {published},
tppubtype = {inbook}
}
C. Sánchez-Garrido, J. Monroy, J. Gonzalez-Jimenez
Frontiers in Artificial Intelligence and Applications (FAIA), IOS Press, pp. 110–121, IOS Press, 2018.
@inbook{sanchezg_faia18,
title = {Probabilistic Estimation of the Gas Source Location in Indoor Environments by Combining Gas and Wind Observations},
author = {Sánchez-Garrido, Carlos and Monroy, Javier and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/papersrepo/2018/2018_sanchezg_FAIA_Probabilistic_Estimation_of_the_Gas_Source_Location.pdf},
doi = {10.3233/978-1-61499-929-4-110},
year = {2018},
date = {2018-01-01},
booktitle = {Frontiers in Artificial Intelligence and Applications (FAIA), IOS Press},
pages = {110--121},
publisher = {IOS Press},
keywords = {},
pubstate = {published},
tppubtype = {inbook}
}
J. Monroy, J.R. Ruiz-Sarmiento, F.A. Moreno, C. Galindo, J. Gonzalez-Jimenez
Towards a Semantic Gas Source Localization under Uncertainty
Information Processing and Management of Uncertainty in Knowledge-Based Systems. Applications, pp. 504–516, Springer, Cham, 2018, ISBN: 978-3-319-91479-4.
@inbook{monroy_2018_ipmu,
title = {Towards a Semantic Gas Source Localization under Uncertainty},
author = {Monroy, Javier and Ruiz-Sarmiento, J. R. and Moreno, Francisco-Angel and Galindo, Cipriano and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/papersrepo/2018/2018_monroy_IPMU_Semantic_Gas_Source_Localization.pdf},
doi = {10.1007/978-3-319-91479-4_42},
isbn = {978-3-319-91479-4},
year = {2018},
date = {2018-01-01},
booktitle = {Information Processing and Management of Uncertainty in Knowledge-Based Systems. Applications},
pages = {504--516},
publisher = {Springer, Cham},
keywords = {},
pubstate = {published},
tppubtype = {inbook}
}
Conferences (7)
2021
D. Fernandez-Chaves, J.L. Matez-Bandera, J.R. Ruiz-Sarmiento, J. Monroy, N. Petkov, J. Gonzalez-Jimenez
Exploiting Spatio-Temporal Coherence for Video Object Detection in Robotics
International Conference on Computer Analysis of Images and Patterns (CAIP), 2021.
@inproceedings{fernandez_caip_2021,
title = {Exploiting Spatio-Temporal Coherence for Video Object Detection in Robotics},
author = {Fernandez-Chaves, David and Matez-Bandera, J. L and Ruiz-Sarmiento, J. R. and Monroy, Javier and Petkov, Nicolai and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/papersrepo/2021/2021_fernandezchaves_CAIP_espation_temporal_coherence_objects.pdf},
doi = {10.1007/978-3-030-89131-2_17},
year = {2021},
date = {2021-01-01},
booktitle = {International Conference on Computer Analysis of Images and Patterns (CAIP)},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
2019
J. Monroy, J.R. Ruiz-Sarmiento, J. Gonzalez-Jimenez
An Evaluation of Plume Tracking as a Strategy for Gas Source Localization in Turbulent Wind Flows
ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN), Fukuoka (Japan), 2019.
@inproceedings{monroy_ISOEN_2019_evaluation,
title = {An Evaluation of Plume Tracking as a Strategy for Gas Source Localization in Turbulent Wind Flows},
author = {Monroy, Javier and Ruiz-Sarmiento, J. R. and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/papersrepo/2019/2019_monroy_ISOEN_Plume_Tracking_Evaluation.pdf},
doi = {10.1109/ISOEN.2019.8823147},
year = {2019},
date = {2019-05-01},
booktitle = {ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN)},
address = {Fukuoka (Japan)},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
J.R. Ruiz-Sarmiento, J. Monroy, F.A. Moreno, J. Gonzalez-Jimenez
A Tutorial on Object Recognition by Machine Learning Techniques Using Python
INTED2019 Proceedings, pp. 3321-3330, IATED, Valencia, SPAIN, 2019, ISBN: 978-84-09-08619-1.
@inproceedings{ruiz2019inted,
title = {A Tutorial on Object Recognition by Machine Learning Techniques Using Python},
author = {Ruiz-Sarmiento, J. R. and Monroy, Javier and Moreno, Francisco-Angel and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/papersrepo/2019/2019-raul-INTED-A_Tutorial_on_Object_recognition_by_Machine_Learning_Techniques_Using_Python.pdf},
doi = {10.21125/inted.2019.0864},
isbn = {978-84-09-08619-1},
year = {2019},
date = {2019-03-01},
booktitle = {INTED2019 Proceedings},
pages = {3321-3330},
publisher = {IATED},
address = {Valencia, SPAIN},
series = {13th International Technology, Education and Development Conference},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
A. Jaenal, F.A. Moreno, J. Gonzalez-Jimenez
Proceedings of the 2Nd International Conference on Applications of Intelligent Systems, pp. 28:1–28:6, ACM, New York, NY, USA, 2019, ISBN: 978-1-4503-6085-2.
@inproceedings{jaenal2019,
title = {Experimental Study of the Suitability of CNN-based Holistic Descriptors for Accurate Visual Localization},
author = {Jaenal, Alberto and Moreno, Francisco-Angel and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/papersrepo/2019/2019_jaenal_APPIS_A_good_holistic_image_feature_for_localization.pdf
http://doi.acm.org/10.1145/3309772.3309800},
doi = {10.1145/3309772.3309800},
isbn = {978-1-4503-6085-2},
year = {2019},
date = {2019-01-01},
booktitle = {Proceedings of the 2Nd International Conference on Applications of Intelligent Systems},
pages = {28:1--28:6},
publisher = {ACM},
address = {New York, NY, USA},
series = {APPIS '19},
abstract = {Holistic Image Descriptors (HIDs) are compact representations of a whole image that, being suitable for Place Recognition, are not appropriate for accurate Visual Localization. The most successful HIDs are those extracted from Convolutional Neural Networks (CNNs) like VGG, ResNet, InceptionV4 or NetVLAD. Very recently, the equivariance property has been proposed to reflect how image 2D transformations (e.g. rotation, flip, scale changes) influence the descriptor [17]. Our work experimentally analyzes whether such property can be a good indicator of the suitability of the existing CNN-based HID for estimating changes in the camera pose, which produces more complex transformations of the image than the pure transformations analyzed in [17]. The results we report here are a preliminary work in the context of an ongoing project towards appearance-based localization of autonomous mobile robots.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
M. Garcia-Salguero, J. Monroy, C. Galindo, J. Gonzalez-Jimenez
Extending an Assistance Robot with the Ability to Play Board Games
International Conference on Applications of Intelligent Systems (APPIS), Las Palmas de Gran Canaria (Spain), 2019.
@inproceedings{garcia-salguero_APPIS_2018_games,
title = {Extending an Assistance Robot with the Ability to Play Board Games},
author = {Garcia-Salguero, Mercedes and Monroy, Javier and Galindo, Cipriano and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/papersrepo/2019/2019_mercedes_APPIS_Extending_An_Assitance_Robot_With_The_Ability_To_Play_Board_Games.pdf},
doi = {10.1145/3309772.3309799},
year = {2019},
date = {2019-01-01},
booktitle = {International Conference on Applications of Intelligent Systems (APPIS)},
address = {Las Palmas de Gran Canaria (Spain)},
abstract = {This paper presents an interactive game system integrated in a mobile robot. Our proposal enables assistant
obots to provide cognitive and entertainment games to elders with the aim of improving skills like memory,
eflexes, or hand-eye coordination, which are jeopardised in aged people. To gain in user acceptance, the game
is virtually recreated by projecting the game board over a table by means of a small projector mounted on the robot. The user can naturally interact with the projected board while him/her movements are detected by the perception system of the robot. To validate the proposed system, a practical case is presented in a laboratory
environment.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
obots to provide cognitive and entertainment games to elders with the aim of improving skills like memory,
eflexes, or hand-eye coordination, which are jeopardised in aged people. To gain in user acceptance, the game
is virtually recreated by projecting the game board over a table by means of a small projector mounted on the robot. The user can naturally interact with the projected board while him/her movements are detected by the perception system of the robot. To validate the proposed system, a practical case is presented in a laboratory
environment.
M. Garcia-Salguero, J. Monroy, A. Solano, J. Gonzalez-Jimenez
Socially Acceptable Approach to Humans by a Mobile Robot
International Conference on Applications of Intelligent Systems (APPIS), Las Palmas de Gran Canaria (Spain), 2019.
@inproceedings{mergarsal_APPIS_2019_appro,
title = {Socially Acceptable Approach to Humans by a Mobile Robot},
author = {Garcia-Salguero, Mercedes and Monroy, Javier and Solano, Alejandro and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/papersrepo/2019/2019_mercedes_APPIS_Socially_Acceptable_Approach_To_Humans_By_A_Mobile_Robot.pdf},
doi = {10.1145/3309772.3309793},
year = {2019},
date = {2019-01-01},
booktitle = {International Conference on Applications of Intelligent Systems (APPIS)},
address = {Las Palmas de Gran Canaria (Spain)},
abstract = {In this paper we propose a solution to endow a mobile robot with the ability to approach humans in a safe and
ocially acceptable way. Our proposal focuses on real world indoor environments where the usual presence of
ultiple humans and obstacles notably rise the complexity of the approach action. We first deal with the problem of accurately estimating the 3D poses of all humans in the work space (positions and orientations), to then focus on the estimation of the most appropriate navigation goal from which the robot should start the interaction with the user. For the latter, we define a cost function that, accounting for multiple proxemic parameters and complying with the restrictions inherent of a robot navigating in a human environment, enables ascertaining an optimal solution. Different experiments are presented to demonstrate the feasibility of our proposal to work under real world conditions.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
ocially acceptable way. Our proposal focuses on real world indoor environments where the usual presence of
ultiple humans and obstacles notably rise the complexity of the approach action. We first deal with the problem of accurately estimating the 3D poses of all humans in the work space (positions and orientations), to then focus on the estimation of the most appropriate navigation goal from which the robot should start the interaction with the user. For the latter, we define a cost function that, accounting for multiple proxemic parameters and complying with the restrictions inherent of a robot navigating in a human environment, enables ascertaining an optimal solution. Different experiments are presented to demonstrate the feasibility of our proposal to work under real world conditions.
2018
R. Gomez-Ojeda, J. Gonzalez-Jimenez
Geometric-based Line Segment Tracking for HDR Stereo Sequences
Int. Conf. on Intelligent Robots and Systems (IROS), IEEE/RSJ Madrid, Spain, 2018.
@inproceedings{gomezojeda2018,
title = {Geometric-based Line Segment Tracking for HDR Stereo Sequences},
author = {Gomez-Ojeda, Ruben and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/wp-content/uploads/publicaciones/legacy/rgomez/publications/iros18geometrictracking.pdf},
year = {2018},
date = {2018-01-01},
booktitle = {Int. Conf. on Intelligent Robots and Systems (IROS)},
address = {Madrid, Spain},
organization = {IEEE/RSJ},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
National conferences (3)
2019
S.F. Baltanas-Molero, J.R. Ruiz-Sarmiento, J. Gonzalez-Jimenez
Colección de Jupyter Notebooks para cursos de robótica móvil
XL Jornadas de Automática, pp. 663-670, Ferrol, Spain, 2019.
@inproceedings{baltanas2019ja,
title = {Colección de Jupyter Notebooks para cursos de robótica móvil},
author = {Baltanas-Molero, Samuel-Felipe and Ruiz-Sarmiento, J. R. and Gonzalez-Jimenez, Javier},
doi = {10.17979/spudc.9788497497169.663},
year = {2019},
date = {2019-09-01},
booktitle = {XL Jornadas de Automática},
pages = {663-670},
address = {Ferrol, Spain},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
2018
M. Garcia-Salguero, J. Monroy, J. Gonzalez-Jimenez
¿Jugamos? Mejora de la Interacción Humano-Robot Mediante Juegos de Mesa
XXXIX Jornadas de Automática, Badajoz (Spain), 2018, ISBN: 978-84-09-04460-3.
@inproceedings{mergarsal_JA_2018,
title = {¿Jugamos? Mejora de la Interacción Humano-Robot Mediante Juegos de Mesa},
author = {Garcia-Salguero, Mercedes and Monroy, Javier and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/papersrepo/2018/2018_mercedes_JA_mejora_interaccion_humano_robot.pdf},
isbn = {978-84-09-04460-3},
year = {2018},
date = {2018-01-01},
booktitle = {XXXIX Jornadas de Automática},
address = {Badajoz (Spain)},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
J.R. Ruiz-Sarmiento, J. Monroy, F.A. Moreno, J. Gonzalez-Jimenez
Tutorial para el Reconocimiento de Objetos Basado en Características Empleando Herramientas Python
XXXIX Jornadas de Automática, Badajoz (Spain), 2018, ISBN: 978-84-09-04460-3.
@inproceedings{raulruiz_JA_2018(inspanish),
title = {Tutorial para el Reconocimiento de Objetos Basado en Características Empleando Herramientas Python},
author = {Ruiz-Sarmiento, J. R. and Monroy, Javier and Moreno, Francisco-Angel and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/papersrepo/2018/2018_raul_JA_tutorial_reconocimiento_objetos.pdf},
isbn = {978-84-09-04460-3},
year = {2018},
date = {2018-01-01},
booktitle = {XXXIX Jornadas de Automática},
address = {Badajoz (Spain)},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
