RAVG: Robotics Active Vision
ResearchPUBLICATIONS
This is the list of publications of this laboratory
Martínez-González, Pablo Arturo; Castelan, Mario; Arechavaleta, Gustavo Vision Based Persistent Localization of a Humanoid Robot for Locomotion Tasks Journal Article In: 2016. Martinez-Gonzalez, Pablo; Castelan, Mario; Arechavaleta, Gustavo Vision based persistent localization of a humanoid robot for locomotion Tasks Journal Article In: International Journal of Applied Mathematics and Computer Science, vol. 26, no. 3, 2016. Delfin, Josafat; Becerra, Hector M; Arechavaleta, Gustavo Visual Servo Walking Control for Humanoids with Finite-time Convergence and Smooth Robot Velocities Journal Article In: International Journal of Control, vol. 89, no. 7, pp. 1342-1358, 2016, ISSN: 1366-5820. Delfin, Josafat; Becerra, Héctor M; Arechavaleta, Gustavo Humanoid Localization and Navigation using a Visual Memory Conference IEEE-RAS 16th International Conference on Humanoid Robots, IEEE, 2016, ISSN: 2164-0580.2016
Journal Articles
@article{Mart\'{i}nez-Gonz\'{a}lez2016b,
title = {Vision Based Persistent Localization of a Humanoid Robot for Locomotion Tasks},
author = {Mart\'{i}nez-Gonz\'{a}lez, Pablo Arturo and Castelan, Mario and Arechavaleta, Gustavo},
year = {2016},
date = {2016-06-06},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
@article{Mart\`{i}nez-Gonz\'{a}lez2016,
title = {Vision based persistent localization of a humanoid robot for locomotion Tasks},
author = {Martinez-Gonzalez, Pablo and Castelan, Mario and Arechavaleta, Gustavo },
url = {https://drive.google.com/file/d/0B-7dVUdTjeJUNGdXd0N6UWRvdk0/view},
year = {2016},
date = {2016-03-26},
journal = {International Journal of Applied Mathematics and Computer Science},
volume = {26},
number = {3},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
@article{Delfin2016,
title = {Visual Servo Walking Control for Humanoids with Finite-time Convergence and Smooth Robot Velocities},
author = {Delfin, Josafat and Becerra, Hector M and Arechavaleta, Gustavo },
url = {http://www.tandfonline.com/doi/abs/10.1080/00207179.2015.1129558},
doi = {http://dx.doi.org/10.1080/00207179.2015.1129558},
issn = {1366-5820},
year = {2016},
date = {2016-01-10},
journal = {International Journal of Control},
volume = {89},
number = {7},
pages = {1342-1358},
abstract = {In this paper, we address the problem of humanoid locomotion guided from information of a monocular camera. The goal of the robot is to reach a desired location defined in terms of a target image, i.e., a positioning task. The proposed approach allows us to introduce a desired time to complete the positioning task, which is advantageous in contrast to the classical exponential convergence. In particular, finite-time convergence is achieved while generating smooth robot velocities and considering the omnidirectional waking capability of the robot. In addition, we propose a hierarchical task-based control scheme, which can simultaneously handle the visual positioning and the obstacle avoidance tasks without affecting the desired time of convergence. The controller is able to activate or inactivate the obstacle avoidance task without generating discontinuous velocity references while the humanoid is walking. Stability of the closed loop for the two task-based control is demonstrated theoretically even during the transitions between the tasks. The proposed approach is generic in the sense that different visual control schemes are supported. We evaluate a homography-based visual servoing for position-based and image-based modalities, as well as for eye-in-hand and eye-to-hand configurations. The experimental evaluation is performed with the humanoid robot NAO.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Conferences
@conference{conf:Delfin2016,
title = {Humanoid Localization and Navigation using a Visual Memory},
author = {Delfin, Josafat and Becerra, H\'{e}ctor M and Arechavaleta, Gustavo },
doi = {10.1109/HUMANOIDS.2016.7803354},
issn = {2164-0580},
year = {2016},
date = {2016-11-15},
booktitle = {IEEE-RAS 16th International Conference on Humanoid Robots},
pages = {725-731},
publisher = {IEEE},
abstract = {A visual memory (VM) is a topological map in which a set of key images organized in form of a graph represents an environment. In this paper, a navigation strategy for humanoid robots addressing the problems of localization, visual path planning and path following based on a VM is proposed. Assuming that the VM is given, the main contributions of the paper are: 1) A novel pure vision-based localization method. 2) The introduction of the estimated rotation between key images in the path planning stage to benefit paths with enough visual information and with less effort of robot rotation. 3) The integration of the complete navigation strategy and its experimental evaluation with a Nao robot in an unstructured environment. The humanoid robot is modeled as a holonomic system and the strategy might be used in different scenarios like corridors, uncluttered or cluttered environments.},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}