Trulls Fortuny, Eduard
Total activity: 8
Institute
Institute of Robotics and Industrial Informatics
E-mail
etrullsiri.upc.edu
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Scientific and technological production
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1 to 8 of 8 results
  • Dense segmentation-aware descriptors

     Trulls Fortuny, Eduard; Kokkinos, Iasonas; Sanfeliu Cortes, Alberto; Moreno Noguer, Francesc d'Assis
    IEEE Conference on Computer Vision and Pattern Recognition
    Presentation's date: 2013
    Presentation of work at congresses

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    In this work we exploit segmentation to construct appearance descriptors that can robustly deal with occlusion and background changes. For this, we downplay measurements coming from areas that are unlikely to belong to the same region as the descriptor¿s center, as suggested by soft segmentation masks. Our treatment is applicable to any image point, i.e. dense, and its computational overhead is in the order of a few seconds. We integrate this idea with Dense SIFT, and also with Dense Scale and Rotation Invariant Descriptors (SID), delivering descriptors that are densely computable, invariant to scaling and rotation, and robust to background changes. We apply our approach to standard benchmarks on large displacement motion estimation using SIFT-flow and widebaseline stereo, systematically demonstrating that the introduction of segmentation yields clear improvements.

  • Spatiotemporal descriptor for wide-baseline stereo reconstruction of non-rigid and ambiguous scenes

     Trulls Fortuny, Eduard; Sanfeliu Cortes, Alberto; Moreno Noguer, Francesc d'Assis
    European Conference on Computer Vision
    Presentation's date: 2012
    Presentation of work at congresses

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    This paper studies the use of temporal consistency to match appearance descriptors and handle complex ambiguities when computing dynamic depth maps from stereo. Previous attempts have designed 3D descriptors over the spacetime volume and have been mostly used for monocular action recognition, as they cannot deal with perspective changes. Our approach is based on a state-of-the-art 2D dense appearance descriptor which we extend in time by means of optical flow priors, and can be applied to wide-baseline stereo setups. The basic idea behind our approach is to capture the changes around a feature point in time instead of trying to describe the spatiotemporal volume. We demonstrate its effectiveness on very ambiguous synthetic video sequences with ground truth data, as well as real sequences.

  • Autonomous Navigation for Mobile Service Robots in Urban Pedestrian Environments

     Trulls Fortuny, Eduard; Corominas Murtra, Andreu; Perez Ibarz, Joan; Ferrer Minguez, Gonzalo; Vasquez, D.; Mirats Tur, Josep Maria; Sanfeliu Cortes, Alberto
    Journal of field robotics
    Date of publication: 2011-05
    Journal article

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    Autonomous navigation for urban service mobile robots  Open access

     Corominas Murtra, Andreu; Trulls Fortuny, Eduard; Sandoval Torres, Oscar; Perez Ibarz, Joan; Vasquez, Dizan; Mirats Tur, Josep Maria; Ferrer Sumsi, Miquel; Sanfeliu Cortes, Alberto
    IEEE/RSJ International Conference on Intelligent Robots and Systems
    Presentation's date: 2010
    Presentation of work at congresses

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    We present to the robotic community a fully autonomous navigation solution for mobile robots operating in urban pedestrian areas. We introduce our robots and the experimental zone, overview the architecture of the navigation framework, and present the results after 3.5km of autonomous navigation. We expose the main lessons learnt by the scientific team and identify the issues to improve future works.

    Postprint (author’s final draft)

  • Efficient use of 3d environment models for mobile robot simulation and localization

     Corominas Murtra, Andreu; Trulls Fortuny, Eduard; Mirats Tur, Josep Maria; Sanfeliu Cortes, Alberto
    International Conference on Simulation, Modeling, and Programming for Autonomous Robots
    Presentation's date: 2010
    Presentation of work at congresses

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    Combination of distributed camera network and laser-based 3D mapping for urban service robots  Open access

     Andrade Cetto, Juan; Ortega Jimenez, Agustín Alberto; Teniente Aviles, Ernesto; Trulls Fortuny, Eduard; Valencia Carreño, Rafael; Sanfeliu Cortes, Alberto
    IEEE/RSJ International Conference on Intelligent Robots and Systems
    Presentation's date: 2009
    Presentation of work at congresses

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    3D mapping for urban service robots  Open access

     Valencia Carreño, Rafael; Teniente Aviles, Ernesto; Trulls Fortuny, Eduard; Andrade Cetto, Juan
    IEEE/RSJ International Conference on Intelligent Robots and Systems
    Presentation's date: 2009-10-11
    Presentation of work at congresses

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    We present an approach to the problem of 3D map building in urban settings for service robots, using threedimensional laser range scans as the main data input. Our system is based on the probabilistic alignment of 3D point clouds employing a delayed-state information-form SLAM algorithm, for which we can add observations of relative robot displacements efficiently. These observations come from the alignment of dense range data point clouds computed with a variant of the iterative closest point algorithm. The datasets were acquired with our custom built 3D range scanner integrated into a mobile robot platform. Our mapping results are compared to a GISbased CAD model of the experimental site. The results show that our approach to 3D mapping performs with sufficient accuracy to derive traversability maps that allow our service robots navigate and accomplish their assigned tasks on a urban pedestrian area.

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    Graphical user interface for the URUS project  Open access

     Trulls Fortuny, Eduard
    Date: 2008
    Report

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    The aim of this report is twofold. First, to present the Graphical User Interface (GUI) developed at IRI for monitoring robotic experiments in the context of the EU project URUS, its capabilities and intended use, and its place within the communications workflow, based around middleware YARP. Second, to introduce the GIS map, extended by us to full 3D, of the experimental area, known as Barcelona Robot Lab, a 10.000 m2 section of the Campus Nord at UPC, Barcelona, Spain; this 3D map is extensively used in the GUI but has been found useful out of its scope.