CRAS - Indexed Articles in Conferences

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Browsing CRAS - Indexed Articles in Conferences by Author "6868"
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    Comparative Study of Visual Odometry and SLAM Techniques
    ( 2018) Alexandra Nunes ; Matos,A ; Andry Maykol Pinto ; Ana Gaspar ; 5446 ; 6869 ; 6868
    The use of the odometry and SLAM visual methods in autonomous vehicles has been growing. Optical sensors provide valuable information from the scenario that enhance the navigation of autonomous vehicles. Although several visual techniques are already available in the literature, their performance could be significantly affected by the scene captured by the optical sensor. In this context, this paper presents a comparative analysis of three monocular visual odometry methods and three stereo SLAM techniques. The advantages, particularities and performance of each technique are discussed, to provide information that is relevant for the development of new research and novel robotic applications. © Springer International Publishing AG 2018.
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    Critical object recognition in underwater environment
    ( 2019) Alexandra Nunes ; Ana Gaspar ; Aníbal Matos ; 5158 ; 6868 ; 6869
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    Evaluation of Bags of Binary Words for Place Recognition in Challenging Scenarios
    ( 2021) Ana Gaspar ; Alexandra Nunes ; Aníbal Matos ; 5158 ; 6868 ; 6869
    To perform autonomous tasks, robots in real-world environments must be able to navigate in dynamic and unknown spaces. To do so, they must recognize previously seen places to compensate for accumulated positional deviations. This task requires effective identification of recovered landmarks to produce a consistent map, and the use of binary descriptors is increasing, especially because of their compact representation. The visual Bag-of-Words (BoW) algorithm is one of the most commonly used techniques to perform appearance-based loop closure detection quickly and robustly. Therefore, this paper presents a behavioral evaluation of a conventional BoW scheme based on Oriented FAST and Rotated BRIEF (ORB) features for image similarity detection in challenging scenarios. For each scenario, full-indexing vocabularies are created to model the operating environment and evaluate the performance for recognizing previously seen places similar to online approaches. Experiments were conducted on multiple public datasets containing scene changes, perceptual aliasing conditions, or dynamic elements. The Bag of Binary Words technique shows a good balance to deal with such severe conditions at a low computational cost. © 2021 IEEE.
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    Occupancy Grid Mapping from 2D SONAR Data for Underwater Scenes
    ( 2021) Alexandra Nunes ; Ana Gaspar ; Aníbal Matos ; 5158 ; 6868 ; 6869