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Publications
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"Generalized Graph SLAM: Solving Local and Global Ambiguities through Multimodal and Hyperedge Constraints",
International Journal of Robotics Research (IJRR), In Press.
"The Pinax-model for accurate and efficient refraction correction of underwater cameras in flat-pane housings",
Ocean Engineering, vol. 133, pp. 9 - 22, 2017.
"Automated Species Counting using a Hierarchical Classification Approach with Haar Cascades and Multi-Descriptor Random Forests",
IEEE Oceans, 2016.
AutomatedUnderwaterSpeciesCounting-Oceans16.pdf (2.35 MB)
AutomatedUnderwaterSpeciesCounting-Oceans16.pdf (2.35 MB)
"Dexterous Undersea Interventions with Far Distance Onshore Supervision: the DexROV Project",
IFAC Conference on Control Applications in Marine Systems, 2016.
"Full 3D Navigation Correction using Low Frequency Visual Tracking with a Stereo Camera",
IEEE Oceans, 2016.
UNDERWATER_oceans16shanghai_visualodometry.pdf (1.44 MB)
UNDERWATER_oceans16shanghai_visualodometry.pdf (1.44 MB)
"Hierarchical Graph-Based Discovery of Non-Primitive-Shaped Objects in Unstructured Environments",
International Conference on Robotics and Automation (ICRA), 2016.
"Knowledge-Enabled Robotic Agents for Shelf Replenishment in Cluttered Retail Environments",
International Conference on Autonomous Agents and Multiagent Systems, 2016.
"No More Heavy Lifting: Robotic Solutions to the Container Unloading Problem",
IEEE Robotics and Automation Magazine (RAM), vol. 23, issue 4, 2016.
"Physics-Based Damage-Aware Manipulation Strategy Planning Using Scene Dynamics Anticipation",
International Conference on Intelligent Robots and Systems, 2016.
"Visual Speed Adaptation for Improved Sensor Coverage in a Multi-Vehicle Survey Mission",
IEEE Oceans, 2016.
TerrainComplexity-SpeedAdaptation-Oceans16.pdf (2.99 MB)
TerrainComplexity-SpeedAdaptation-Oceans16.pdf (2.99 MB)
"Beyond Points: Evaluating Recent 3D Scan-Matching Algorithms",
International Conference on Robotics and Automation (ICRA), 2015.
"DexROV: Enabling Effective Dexterous ROV Operations in Presence of Communication Latency",
IEEE Oceans, 2015.
"Map evaluation using matched topology graphs",
Autonomous Robots, pp. 1-27, 2015.
MapEvaluation-TopologyGraph-AuRo15.pdf (1.18 MB)
MapEvaluation-TopologyGraph-AuRo15.pdf (1.18 MB)
"Multi-Robot Exploration with AUVs on Cliffs and other 3D Structures with a Predominant Orientation",
IEEE Oceans, 2015.
"Robust 3D Object Modeling with a Low-Cost RGBD-Sensor and AR-Markers for Applications with Untrained End-Users",
Robotics and Autonomous Systems (RAS), Elsevier, vol. 66, pp. 1-17, 2015.
"Segmentation and Classification Using Active Contours Based Superellipse Fitting on Side Scan Sonar Images for Marine Demining",
International Conference on Robotics and Automation (ICRA), 2015.
"Fitting Superquadrics in Noisy, Partial Views from a Low-cost RGBD Sensor for Recognition and Localization of Sacks in Autonomous Unloading of Shipping Containers",
IEEE International Conference on Automation Science and Engineering (CASE), 2014.
"Large-Scale Image Mosaicking using Multimodal Hyperedge Constraints from Multiple Registration Methods within the Generalized Graph SLAM Framework",
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014.
"Object Recognition and Localization for Robust Grasping with a Dexterous Gripper in the Context of Container Unloading",
IEEE International Conference on Automation Science and Engineering (CASE), 2014.
"Object Shape Categorization in RGBD Images using Hierarchical Graph Constellation Models based on Unsupervisedly Learned Shape Parts described by a Set of Shape Specificity Levels",
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014.
"Representing and Solving Local and Global Ambiguities as Multimodal and Hyperedge Constraints in a Generalized Graph SLAM Framework",
IEEE International Conference on Robotics and Automation (ICRA): IEEE Press, 2014.
"Velvet Fingers: Grasp Planning and Execution for an Underactuated Gripper with Active Surfaces",
IEEE International Conference on Robotics and Automation (ICRA): IEEE Press, 2014.
"Evaluation of Map Quality by Matching and Scoring High-Level, Topological Map Structures",
IEEE International Conference on Robotics and Automation (ICRA): IEEE Press, 2013.
"Initial Results of Cooperative AUV Exploration in a High-Fidelity Simulation using Real-World Data from Monte da Guia, Azores",
IEEE Oceans: IEEE Press, 2013.
"Large-Scale Mosaicking with Spectral Registration based Simultaneous Localization and Mapping (iFMI-SLAM) in the Ligurian Sea",
IEEE Oceans: IEEE Press, 2013.
"Object Recognition in RGBD Images of Cluttered Environments using Graph-Based Categorization with Unsupervised Learning of Shape Parts",
International Conference on Intelligent Robots and Systems (IROS), 2013.
"Robust Estimation of Camera-Tilt for iFMI based Photo-Mapping using a Calibrated Monocular Camera",
IEEE International Conference on Robotics and Automation (ICRA): IEEE Press, 2013.
"Simultaneous Localization and Mapping (SLAM) with Multimodal Probability Distributions",
International Journal of Robotics Research (IJRR), vol. 32, issue 2, pp. 143-171, 2013.