Research line

Mobile Robotics and Intelligent Systems Image

The research activities of the MOBILE ROBOTICS line are aimed to endow mobile robots and ubiquitous computing devices the necessary skills to aid humans in everyday life activities. These skills range from pure perceptual activities such as tracking, recognition or situation awareness, to motion skills, such as localization, mapping, autonomous navigation, path planning or exploration.

Head of line: Alberto Sanfeliu Cortés

Head of line

Tech. transfer

Our activity finds applications in several fields through collaboration with our technological partners

Research projects

We carry out projects from national and international research programmes.
→ More about our research projects

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Urban service robotics

The group focuses on the design and development of service mobile robots for human assistance and human robot interaction. This includes research on novel hardware and software solutions to urban robotic services such as surveillance, exploration, cleaning, transportation, human tracking, human assistance and human guiding.

Research area 1 of Mobile Robotics

Social robotics

The group's work on social robotics has an emphasis in human robot interaction and collaboration, developing new techniques to predict and learn human behaviors, human-robot task collaboration, and the generation of emphatic robot behaviors using all types of sensors, computer vision techniques and cognitive systems technologies.

Research area 2 of Mobile Robotics

Robot localization and robot navigation

This research area tackles the creation of robust single and cooperative, indoor and outdoor robot localization solutions, using multiple sensor modalities such as GPS, computer vision and laser range finding, INS sensors and raw odometry. The area also seeks methods and algorithms for autonomous robot navigation, and robot formation; and the application of these methods on a variety of indoor and outdoor mobile robot platforms.

Research area 3 of Mobile Robotics

SLAM and robot exploration

We develop solutions for indoor and outdoor simultaneous localization and mapping using computer vision and three-dimensional range data using Bayesian estimation. The research includes the development of new filtering and smoothing algorithms that limit the load of maps using information theoretic measures; as well as the design and construction of novel sensors for outdoor mapping. This research area also studies methods for autonomous robotic exploration.

Research area 4 of Mobile Robotics

Tracking in computer vision

We study the development of robust algorithms for the detection and tracking of human activities in indoor and outdoor areas, with applications to service robotics, surveillance, and human-robot interaction. This includes the development of fixed/moving single camera tracking algorithms as well as detection and tracking methods over large camera sensor networks.

Research area 5 of Mobile Robotics

Object recognition

The group also performs research on object detection and object recognition in computer vision. Current research is heavily based on boosting and other machine learning methodologies that make extensive use of multiple view geometry. We also study the development of unique feature and scene descriptors, invariant to changes in illumination, cast shadows, or deformations.

Research area 6 of Mobile Robotics

These are the latest research projects of the Mobile Robotics and Intelligent Systems research line:

These are the most recent publications (2014 - 2013) of the Mobile Robotics and Intelligent Systems

  • R. Valencia, J. Saarinen, H. Andreasson, J. Vallvé, J. Andrade-Cetto and A. Llilienthal. Localization in highly dynamic environments using dual-timescale NDT-MCL, 2014 IEEE International Conference on Robotics and Automation, 2014, Hong Kong, pp. 3956-3962.

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  • G. Ferrer and A. Sanfeliu. Behavior estimation for a complete framework for human motion prediction in crowded environments, 2014 IEEE International Conference on Robotics and Automation, 2014, Hong Kong, pp. 5940-5945.

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  • A. Santamaria-Navarro and J. Andrade-Cetto. Hierarchical task control for aerial inspection, euRathlon-ARCAS Workshop and Summer School on Field Robotics, 2014, Seville.

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  • A.A. Ortega, M. Silva, E.H. Teniente, R. Ferreira, A.J. Bernardino Malheiro, J. Gaspar and J. Andrade-Cetto. Calibration of an outdoor distributed camera network with a 3D point cloud. Sensors, 14(8): 13708-13729, 2014.

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  • E. Trulls Fortuny, S. Tsogkas, I. Kokkinos, A. Sanfeliu and F. Moreno-Noguer. Segmentation-aware deformable part models, 2014 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2014, Columbus, Ohio (USA), pp. 168-175.

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  • G. Ferrer and A. Sanfeliu. Proactive kinodynamic planning using the extended social force model and human motion prediction in urban environments, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014, Chicago, pp. 1730-1735.

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  • A.A. Ortega and J. Andrade-Cetto. Dynamic object detection fusing LIDAR data and images, X Taller de Procesamiento de Imágenes, 2014, Guanajuato México.

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  • A. Goldhoorn, A. Garrell Zulueta, R. Alquézar Mancho and A. Sanfeliu. Continuous real time POMCP to find-and-follow people by a humanoid service robot, 2014 IEEE-RAS International Conference on Humanoid Robots, 2014, Madrid, Spain, IEEE Press, to appear.

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  • A. Santamaria-Navarro, V. Lippiello and J. Andrade-Cetto. Task priority control for aerial manipulation, 2014 IEEE International Symposium on Safety, Security and Rescue Robotics, 2014, Toyako-cho, Hokkaido, Japan, to appear.

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  • L. Ferraz, X. Binefa and F. Moreno-Noguer. Very fast solution to the PnP problem with algebraic outlier rejection, 2014 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2014, Columbus, Ohio (USA), pp. 501-508.

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  • A. Amor, A. Ruiz, F. Moreno-Noguer and A. Sanfeliu. On-board real-time pose estimation for UAVs using deformable visual contour registration, 2014 IEEE International Conference on Robotics and Automation, 2014, Hong Kong, pp. 2595-2601.

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  • A. Amato, I. Huerta, M. Mozerov, F. Xavier Roca and J. Gonzàlez. Moving cast shadows detection methods for video surveillance applications. In Wide Area Surveillance: Real-time Motion Detection Systems, 23-47. Springer, 2014.

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  • M. Villamizar, A. Sanfeliu and F. Moreno-Noguer. Fast online learning and detection of natural landmarks for autonomous aerial robots, 2014 IEEE International Conference on Robotics and Automation, 2014, Hong Kong, pp. 4996-5003.

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  • G. Ferrer and A. Sanfeliu. Bayesian human motion intentionality prediction in urban environments. Pattern Recognition Letters, 44: 134-140, 2014.

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  • A. Rubio, M. Villamizar, L. Ferraz, A. Penate-Sanchez, A. Sanfeliu and F. Moreno-Noguer. Estimación monocular y eficiente de la pose usando modelos 3D complejos, XXXV Jornadas de Automática, 2014, Valencia .

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  • A. Santamaria-Navarro, E.H. Teniente, M. Morta and J. Andrade-Cetto. Terrain classification in complex three-dimensional outdoor environments. Journal of Field Robotics, 2014, to appear.

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  • L. Ferraz, X. Binefa and F. Moreno-Noguer. Leveraging feature uncertainty in the PnP problem, 2014 British Machine Vision Conference, 2014, .

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  • M.G. Jadidi, J. Valls Miró, R. Valencia and J. Andrade-Cetto. Exploration on continuous Gaussian process frontier maps, 2014 IEEE International Conference on Robotics and Automation, 2014, Hong Kong, pp. 6077-6082.

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  • A. Penate-Sanchez, F. Moreno-Noguer, J. Andrade-Cetto and F. Fleuret. LETHA: Learning from high quality inputs for 3D pose estimation in low quality images, 2014 International Conference on 3D Vision, 2014, Tokyo, to appear.

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  • J. Vallvé and J. Andrade-Cetto. Dense entropy decrease estimation for mobile robot exploration, 2014 IEEE International Conference on Robotics and Automation, 2014, Hong Kong, pp. 6083-6089.

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  • I. Huerta, G. Ferrer, F. Herrero, A. Prati and A. Sanfeliu. Multimodal feedback fusion of laser, image and temporal information, 2014 International Conference on Distributed Smart Cameras, 2014, Venice, Italy, pp. 25:1-25:6.

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  • E.H. Teniente and J. Andrade-Cetto. HRA*: Hybrid randomized path planning for complex 3D environments, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013, Tokyo, pp. 1766-1771.

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  • A. Penate-Sanchez, E. Serradell, J. Andrade-Cetto and F. Moreno-Noguer. Simultaneous pose, focal length and 2D-to-3D correspondences from noisy observations, 2013 British Machine Vision Conference, 2013, Bristol, UK, pp. 82.1-82.11.

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  • M.G. Jadidi, J. Valls Miró, R. Valencia, J. Andrade-Cetto and G. Dissanayake. Exploration using an information-based reaction-diffusion process, 2013 Australasian Conference on Robotics and Automation, 2013, Sydney, pp. 1-10.

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  • G. Ferrer, A. Garrell Zulueta and A. Sanfeliu. Social-aware robot navigation in urban environments, 6th European Conference on Mobile Robots, 2013, Barcelona, pp. 331-336.

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  • G. Ferrer, A. Garrell Zulueta and A. Sanfeliu. Robot companion: A social-force based approach with human awareness-navigation in crowded environments, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013, Tokyo, pp. 1688-1694.

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  • A. Goldhoorn, A. Sanfeliu and R. Alquézar Mancho. Comparison of MOMDP and heuristic methods to play hide-and-seek, 16th Catalan Conference on Artificial Intelligence, 2013, Vic, Spain, in Artificial Intelligence Research and Development, Vol 256 of Frontiers in Artificial Intelligence and Applications, pp. 31-40, 2013, IOS Press.

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  • A. Goldhoorn, A. Sanfeliu and R. Alquézar Mancho. Analysis of methods for playing human robot hide-and-seek in a simple real world urban environment, 1st Iberian Robotics Conference, 2013, Madrid, in ROBOT2013: First Iberian Robotics Conference, Vol 252-3 of Advances in Intelligent Systems and Computing, pp. 505-520, 2014, Springer.

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  • E. Retamino and A. Sanfeliu. Human-robot collaborative scene mapping from relational descriptions, 1st Iberian Robotics Conference, 2013, Madrid, in ROBOT2013: First Iberian Robotics Conference, Vol 252-3 of Advances in Intelligent Systems and Computing, pp. 331-346, 2014, Springer.

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  • E. Trulls Fortuny, I. Kokkinos, A. Sanfeliu and F. Moreno-Noguer. Dense segmentation-aware descriptors, 2013 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2013, Portland, USA, pp. 2890-2897.

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  • I. Huerta, A. Amato, F. Xavier Roca and J. Gonzàlez. Exploiting multiple cues in motion segmentation based on background subtraction. Neurocomputing, 100: 183-196, 2013.

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  • G. Ferrer, A. Garrell Zulueta, M. Villamizar, I. Huerta and A. Sanfeliu. Robot interactive learning through human assistance. In Multimodal Interaction in Image and Video Applications, 185-203. Springer Berlin Heidelberg, 2013.

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  • A. Penate-Sanchez, J. Andrade-Cetto and F. Moreno-Noguer. Exhaustive linearization for robust camera pose and focal length estimation. IEEE Transactions on Pattern Analysis and Machine Intelligence, 35(10): 2387-2400, 2013.

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  • A. Garrell Zulueta, M. Villamizar, F. Moreno-Noguer and A. Sanfeliu. Proactive behavior of an autonomous mobile robot for human-assisted learning, 22nd IEEE International Symposium on Robot and Human Interactive Communication, 2013, Gyeongju, Korea, pp. 107-113.

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  • A. Santamaria-Navarro and J. Andrade-Cetto. Uncalibrated image-based visual servoing, 2013 IEEE International Conference on Robotics and Automation, 2013, Karlsruhe, pp. 5247-5252.

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  • R. Valencia, M. Morta, J. Andrade-Cetto and J.M. Porta. Planning reliable paths with Pose SLAM. IEEE Transactions on Robotics, 29(4): 1050-1059, 2013.

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  • M.G. Jadidi, J. Valls Miró, R. Valencia, J. Andrade-Cetto and G. Dissanayake. Exploration in information distribution maps, 2013 RSS Workshop on Robotic Exploration, Monitoring, and Information Collection, 2013, Berlin, Germany, pp. 1-8.

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  • J. Vallvé and J. Andrade-Cetto. Mobile robot exploration with potential information fields, 6th European Conference on Mobile Robots, 2013, Barcelona, pp. 222-227.

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  • A.A. Ortega, R. Galego, R. Ferreira, A.J. Bernardino Malheiro, J. Gaspar and J. Andrade-Cetto. Estimation of camera calibration uncertainty using LIDAR data, 6th European Conference on Mobile Robots, 2013, Barcelona, pp. 361-366.

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Mobile Robotics Laboratory

The Mobile Robotics Laboratory is an experimental area primarily devoted to hands-on research with mobile robot devices. The lab includes 3 Pioneer platforms, 2 service robots for urban robotics research based on Segway platforms, and a 4-wheel rough outdoor mobile robot, a six-legged LAURON-III walking robot, and a vast number of sensors and cameras.

Mobile Robotics Laboratory

Barcelona Robot Laboratory

The Barcelona Robot Lab encompasses an outdoor pedestrian area of 10.000 sq m., and is provided with 21 fixed cameras, a set of heterogeneous robots, full coverage of wifi and mica devices, and partial gps coverage. The area has moderate vegetation and intense cast shadows, making computer vision algorithms more than challenging.

Barcelona Robot Laboratory
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