Browsing by Author "Pérez Paina, Gonzalo"

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    Monocular simultaneous localization and mapping system for a wheeled mobile robot
    (2013) Pérez Paina, Gonzalo; Destefanis, Eduardo
    The present work describes the implementation of a monocular visual SLAM applied to a wheeled mobile robot moving in an indoor environment. It will be described the whole system and details of each part of the current implementation. Parts comprising the system include the estimation filter together with both motion and measurement models, as well as a set of computer vision algorithms for image processing and data association. The implemented visual SLAM make use of the latest techniques for undelayed landmark initialization which are required given the partially observability of bearing only SLAM. Presented results show the performance of the implementation mainly for robot pose estimation, from which it can be observed a highly accurate result in robot orientation estimation.
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    RoMAA-II, an open architecture mobile robot
    (IEEE LATIN AMERICAN TRANSACTION, 2014) Pérez Paina, Gonzalo; Araguás, Roberto Gastón; Gaydou, David Alejandro; Canali, Luis Rafael
    The aim of designing and developing an open architecture mobile robot called RoMAA (in accordance with its name in Spanish) arises from the necessity to have a vehicle suitable for carrying out different experiments in the robotics research field. This vehicle has to have the ability to be easily adapted to different experiments in the research field of mobile robotics and computer vision. The present paper describes in detail the development of the final version of the robot –RoMAA- II– as an improvement of the original version RoMAA. The different parts that compose the robot are described which include the electromechanical components, the onboard embedded system, along with the high level software running in the on-board computer; together with the description of its more relevant characteristics. Nowadays, four fully operational RoMAA-II robots are available in the CIII, which are regularly used for experiments of different research projects.