Selected Publications

GUMS is a complete projection model for omnidirectional stereo vision systems. GUMS is based on the existing generalized unified model (GUM), which we extend for fixed baseline sensors.
In IROS, 2016.

We describe the design and 3D sensing performance of an omnidirectional stereo (omnistereo) vision system applied to Micro Aerial Vehicles (MAVs).
In Sensors, 2016.

We present an on-board navigation system for Micro Aerial Vehicles (MAV) based on information provided by a visual odometry algorithm processing data from an RGB-D camera.
In ICRA, 2014.

We design a novel ‘folded’ spherical catadioptric rig (formed by two coaxially-aligned spherical mirrors of distinct radii and a single perspective camera) to recover near-spherical range panoramas.
In MVAP, 2011.

Recent Publications

. GUMS: A Generalized Unified Model for Stereo Omnidirectional Vision. In IROS, 2016.

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. Design and Analysis of a Single-Camera Omnistereo Sensor for Quadrotor Micro Aerial Vehicles (MAVs). In Sensors, 2016.

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. Autonomous Quadrotor Flight Using Onboard RGB-D Visual Odometry. In ICRA, 2014.

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. 6-DoF Pose Localization in 3D Point-Cloud Dense Maps Using a Monocular Camera. In ROBIO, 2013.

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. A Single-Camera Omni-Stereo Vision System for 3D Perception of Micro Aerial Vehicles (MAVs). In ICIEA, 2013.

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. Incremental Registration of RGB-D Images. In ICRA, 2012.

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. Generating near-spherical range panoramas by fusing optical flow and stereo from a single-camera folded catadioptric rig. In MVAP, 2011.

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. Fusing Optical Flow and Stereo in a Spherical Depth Panorama Using a Single-Camera Folded Catadioptric Rig. In ICRA, 2011.

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Current Doctoral Students Alumni
Carlos Jaramillo Roberto G. Valenti (2011-2016)
Bing Li Ivan Dryanovski (2010-2015)
Liang Yang Samleo L. Joseph (~2015)
Chunhua Deng Xiaochen Zhang (~2016)
Flavio Cabrera-Mora (~2014)
Rex Wong (~2014)
Xiaohai Li (~2012)

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