Francisco Angel Moreno

Francisco Angel Moreno
University of Malaga | UMA · Department of System Engineering and Automatics

PhD in Mechatronics

About

27
Publications
5,467
Reads
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518
Citations
Research Experience
December 2008 - November 2012
University of Malaga
Position
  • FPU

Publications

Publications (27)
Article
Full-text available
In clinical practice, patients' balance can be assessed using standard scales. Two of the most validated clinical tests for measuring balance are the Timed Up and Go (TUG) test and the MultiDirectional Reach Test (MDRT). Nowadays, inertial sensors (IS) are employed for kinematic analysis of functional tests in the clinical setting, and have become...
Conference Paper
Sensor networks are becoming popular nowadays in the development of smart environments. Heavily relying on static sensor and actuators, though, such environments usually lacks of versatility regarding the provided services and interaction capabilities. Here we present a framework for smart environments where a service robot is included within the s...
Article
Full-text available
This work addresses the development and application of a novel approach, called sparser relative bundle adjustment (SRBA), which exploits the inherent flexibility of the relative bundle adjustment (RBA) framework to devise a continuum of strategies, ranging from RBA with linear graphs to classic bundle adjustment (BA) in global coordinates, where s...
Conference Paper
Full-text available
In this paper, we present a new application of laser range-finder sensing to agricultural spraying vehicles. The current generation of spraying vehicles use automatic controllers to maintain the height of the sprayer booms above the crop. However, these control systems are typically based on ultrasonic sensors mounted on the booms, which limits the...
Article
Full-text available
This paper introduces a dataset gathered entirely in urban scenarios with a car equipped with one stereo camera and five laser scanners, among other sensors. One distinctive feature of the present dataset is the existence of high-resolution stereo images grabbed at a high rate (20 fps) during a 36.8 km trajectory, which allows the benchmarking of a...
Article
This article describes an electric vehicle equipped with a laser scanner and a highly accurate absolute positioning system aimed at surveying the geometry of roads. The main advantages of the proposed system with respect to conventional topographic procedures are the possibility of achieving a much higher density of surveyed points and its efficien...
Conference Paper
Full-text available
This paper presents ERODE, an efficient outlier detector with a quality similar to that of standard RANSAC but at a fraction of its computational cost. In contrast to RANSAC-based methods which follow a hypothesis-and-verify approach, ERODE employs instead the whole set of observations together with a robust kernel to perform robustified least-squa...
Conference Paper
— En este artículo se describe un vehículo eléctrico equipado con un escáner láser y un sistema de posicionamiento muy preciso diseñado para realizar levantamientos topográficos de carreteras. Las ventajas del sistema propuesto respecto al procedimiento topográfico convencional son el aumento de la densidad de puntos levantados y su eficiencia de o...
Article
Full-text available
The lack of publicly accessible datasets with a reliable ground truth has prevented in the past a fair and coherent comparison of different methods proposed in the mobile robot Simultaneous Localization and Mapping (SLAM) literature. Providing such a ground truth becomes specially challenging in the case of visual SLAM, where the world model is 3-d...
Article
This work addresses the SLAM problem for stereo vision systems under the unified formulation of particle filter methods. In contrast to most existing approaches to visual SLAM, the present method does not rely on restrictive smooth camera motion models, but on computing incremental 6-DoF pose differences from the image flow through a probabilistic...
Conference Paper
Full-text available
This paper describes SANCHO, a mobile robot intended to perform within crowded areas as a servant, for instance as a fair or congress host. This robot has been constructed upon a commercial platform on which a number of sensors and devices have been integrated. A software control architecture has been implemented and adapted to this particular robo...
Article
This article addresses the problem of mobile robot localization using Ultra-Wide-Band (UWB) range measurements. UWB is a radio technology widely used for communications, that is recently receiving increasing attention for positioning applications. In these cases, the position of a mobile transceiver is determined from the distances to a set of fixe...
Conference Paper
Full-text available
GPS receivers are satellite-based devices widely used for vehicle localization that, given their limitations, are not suitable for performing within indoor or dense urban environments. On the other hand ultra-wide band (UWB), a technology used for efficient wireless communication, has recently being used for vehicle localization in indoor environme...
Conference Paper
Full-text available
Estimating the ego-motion of a mobile robot has been traditionally achieved by means of encoder-based odometry. However, this method presents several drawbacks, such as the existence of accumulative drifts, its sensibility to slippage, and its limitation to planar environments. In this work we present an alternative method for estimating the increm...
Conference Paper
Full-text available
In this paper we propose a probabilistic observation model for stereo vision systems which avoids explicit data association between observations and the map by marginalizing the observation likelihood over all the possible associations. We define observations as sets of landmarks composed of their 3D locations, assumed to be normally distributed,...
Article
Full-text available
Resumen En este artículo se presenta un método probabilístico para estimar el desplazamiento de un robot móvil equipado con un sistema de visión estereoscópico. El método evita el emparejamiento directo entre las marcas (puntos) 3D obtenidas por el sistema estéreo en las distintas posiciones del robot mediante el cálculo de la función de densidad d...

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