Sergio Cebollada
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View article: An evaluation of CNN models and data augmentation techniques in hierarchical localization of mobile robots
An evaluation of CNN models and data augmentation techniques in hierarchical localization of mobile robots Open
This work presents an evaluation of CNN models and data augmentation to carry out the hierarchical localization of a mobile robot by using omnidirectional images. In this sense, an ablation study of different state-of-the-art CNN models us…
View article: Environment modeling and localization from datasets of omnidirectional scenes using machine learning techniques
Environment modeling and localization from datasets of omnidirectional scenes using machine learning techniques Open
This work presents a framework to create a visual model of the environment which can be used to estimate the position of a mobile robot by means of artificial intelligence techniques. The proposed framework retrieves the structure of the e…
View article: Training, Optimization and Validation of a CNN for Room Retrieval and Description of Omnidirectional Images
Training, Optimization and Validation of a CNN for Room Retrieval and Description of Omnidirectional Images Open
The aim of this paper is to achieve the optimal hyperparameters setup of a convolutional neural network (CNN) to address the localization of a mobile robot. The localization problem is solved with a hierarchical approach by using omnidirec…
View article: Development and use of a convolutional neural network for hierarchical appearance-based localization
Development and use of a convolutional neural network for hierarchical appearance-based localization Open
This paper reports and evaluates the adaption and re-training of a Convolutional Neural Network (CNN) with the aim of tackling the visual localization of a mobile robot by means of a hierarchical approach. The proposed method addresses the…
View article: A CNN Regression Approach to Mobile Robot Localization Using Omnidirectional Images
A CNN Regression Approach to Mobile Robot Localization Using Omnidirectional Images Open
Understanding the environment is an essential ability for robots to be autonomous. In this sense, Convolutional Neural Networks (CNNs) can provide holistic descriptors of a scene. These descriptors have proved to be robust in dynamic envir…
View article: Creating Incremental Models of Indoor Environments through Omnidirectional Imaging
Creating Incremental Models of Indoor Environments through Omnidirectional Imaging Open
In this work, an incremental clustering approach to obtain compact hierarchical models of an environment is developed and evaluated. This process is performed using an omnidirectional vision sensor as the only source of information. The me…
View article: A Novel Method to Estimate the Position of a Mobile Robot in Underfloor Environments Using RGB-D Point Clouds
A Novel Method to Estimate the Position of a Mobile Robot in Underfloor Environments Using RGB-D Point Clouds Open
This paper is focused on the design of a mobile robot whose objective is to apply thermal insulation spray in underfloor voids, to improve the energy efficiency of buildings. Solving robustly the mapping and localization problems is crucia…
View article: Evaluation of Clustering Methods in Compression of Topological Models and Visual Place Recognition Using Global Appearance Descriptors
Evaluation of Clustering Methods in Compression of Topological Models and Visual Place Recognition Using Global Appearance Descriptors Open
This paper presents an extended study about the compression of topological models of indoor environments. The performance of two clustering methods is tested in order to know their utility both to build a model of the environment and to so…
View article: Active Learning Program Supported by Online Simulation Applet in Engineering Education
Active Learning Program Supported by Online Simulation Applet in Engineering Education Open
Nowadays education programs in engineering degrees have evolved towards advanced learning models and methodologies, which are either partially or entirely sustained by ICT (Information, Communication, and Technology) resources, and blended…
View article: Hierarchical Localization in Topological Models Under Varying Illumination Using Holistic Visual Descriptors
Hierarchical Localization in Topological Models Under Varying Illumination Using Holistic Visual Descriptors Open
In this paper, a hierarchical localization framework within indoor environments is proposed and evaluated, considering severe variations of the illumination conditions. The only source of information both to build a model of the environmen…