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All Journal IAES International Journal of Robotics and Automation (IJRA)
Gonzalez-Barbosa, Jose-Joel
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Automotive Engineering Electrical & Electronics Engineering

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Using mobile laser scanner and imagery for urban management applications Gonzalez-Barbosa, Jose-Joel; Flores-Rodrıguez, Karen Lizbeth; Ornelas-Rodrıguez, Francisco Javier; Trujillo-Romero, Felipe; Gonzalez-Barbosa, Erick Alejandro; Hurtado-Ramos, Juan B.
IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 2: June 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v11i2.pp89-110

Abstract

Despite autonomous navigation is one of the most proliferate applications of three-dimensional (3D) point clouds and imagery both techniques can potentially have many other applications. This work explores urban digitization tools applied to 3D geometry to perform urban tasks. We focus exclusively on compiling scientific research that merges mobile laser scanning (MLS) and imagery from vision systems. The major contribution of this review is to show the evolution of MLS combined with imagery in urban applications. We review systems used by public and private organizations to handle urban tasks such as historic preservation, roadside assistance, road infrastructure inventory, and public space study. The work pinpoints the potential and accuracy of data acquisition systems to handled both 3D point clouds and imagery data. We highlight potential future work regarding the detection of urban environment elements and to solve urban problems. This article concludes by discussing the major constraints and struggles of current systems that use MLS combined with imagery to perform urban tasks and to solve urban tasks.
Active object search using a pyramid approach to determine the next-best-view Flores-Rodriguez, Karen-Lizbeth; Trujillo-Romero, Felipe; Gonzalez-Barbosa, Jose-Joel
IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 1: March 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v11i1.pp70-88

Abstract

The development of service robotics continues to arouse interest in the scientific community due to the complexity of the activities performed like interaction in human environments, identifying and manipulating objects, and even learning by themselves. This paper proposed to improve the perception of the environment by searching for objects in service robotics tasks. We present the development and implementation of an active object search method based on three main phases: Firstly, image pyramid segmentation to examine in detail the im- age features. Second step, object detection at each level of the pyramid through a local feature descriptor and a mutual information calculation. Finally, the next camera position selection through analyzing the object detections accumulation in the pyramid. To evaluate the implementation of the proposed method, we use a NAO robot in a familiar place for humans, such as an office or a home. Ordinary objects are part of our database with the premise that a robot must know them before looking for an object. The results in the experiments showed an acceptable performance in simulation and with a real platform.
Co-Authors Flores-Rodrıguez, Karen Lizbeth Flores-Rodriguez, Karen-Lizbeth Gonzalez-Barbosa, Erick Alejandro Hurtado-Ramos, Juan B. Ornelas-Rodrıguez, Francisco Javier Trujillo-Romero, Felipe