IRI - URUS: Ubiquitous networking robotics in urban settings

In this project we want to analyze and test the idea of incorporating a network of robots (robots, intelligent sensors, devices and communications) in order to improve life quality in urban areas. The URUS project is focused in designing a network of robots that in a cooperative way interact with human beings and the environment for tasks of assistance, transportation of goods, and surveillance in urban areas. Specifically, our objective is to design and develop a cognitive network robot architecture that integrates cooperating urban robots, intelligent sensors, intelligent devices and communications.

More info at www.urus.upc.es.

Project Publications

Journal Publications

V. Ila, J.M. Porta and J. Andrade-Cetto. Amortized constant time state estimation in Pose SLAM and hierarchical SLAM using a mixed Kalman-information filter. Robotics and Autonomous Systems, 59(5): 310-318, 2011.

Abstract Info PDF
E. Trulls Fortuny, A. Corominas Murtra, J. Perez, G. Ferrer, D. Vasquez, J. M. Mirats Tur and A. Sanfeliu. Autonomous navigation for mobile service robots in urban pedestrian environments. Journal of Field Robotics, 28(3): 329-354, 2011.

Abstract Info PDF
T. Vidal-Calleja, A. Sanfeliu and J. Andrade-Cetto. Action selection for single-camera SLAM. IEEE Transactions on Systems, Man and Cybernetics: Part B, 40(6): 1567-1581, 2010.

Abstract Info PDF
V. Ila, J.M. Porta and J. Andrade-Cetto. Information-based compact Pose SLAM. IEEE Transactions on Robotics, 26(1): 78-93, 2010.

Abstract Info PDF
A. Sanfeliu, J. Andrade-Cetto, M. Barbosa, R. Bowden, J. Capitán, A. Corominas Murtra, A. Gilbert, J. Illingworth, L. Merino, J. M. Mirats Tur, P. Moreno, A. Ollero, J. Sequeira and M.T. Spaan. Decentralized sensor fusion for ubiquitous networking robotics in urban areas. Sensors, 10(3): 2274-2314, 2010.

Abstract Info PDF
A. Sanfeliu, M.R. Llácer, M.D. Gramunt, A. Punsola and Y. Yoshimura. Influence of the privacy issue in the deployment and design of networking robots in European urban areas. Advanced Robotics, 24(13): 1873-1899, 2010.

Abstract Info PDF
J. M. Mirats Tur, C. Zinggerling and A. Corominas Murtra. Geographical information systems for map based navigation in urban environments. Robotics and Autonomous Systems, 57(9): 922-930, 2009.

Abstract Info PDF
F. Moreno-Noguer, A. Sanfeliu and D. Samaras. Dependent multiple cue integration for robust tracking. IEEE Transactions on Pattern Analysis and Machine Intelligence, 30(4): 670-685, 2008.

Abstract Info PDF
A. Sanfeliu, N. Hagita and A. Saffiotti. Editorial. Robotics and Autonomous Systems, 56(10): 791-791, 2008.

Abstract Info PDF
A. Sanfeliu, N. Hagita and A. Saffiotti. Network robot systems. Robotics and Autonomous Systems, 56(10): 793-797, 2008.

Abstract Info PDF
A. Corominas Murtra, J. M. Mirats Tur and A. Sanfeliu. Action evaluation for mobile robot global localization in cooperative environments. Robotics and Autonomous Systems, 56(10): 807-818, 2008.

Abstract Info PDF

Conference Publications

A. Corominas Murtra, E. Trulls Fortuny, O. Sandoval, J. Perez, D. Vasquez, J. M. Mirats Tur, M. Ferrer and A. Sanfeliu. Autonomous navigation for urban service mobile robots, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, Taipei, Taiwan, pp. 4141-4146, IEEE.

Abstract Info PDF
A. Corominas Murtra, E. Trulls Fortuny, J. M. Mirats Tur and A. Sanfeliu. Efficient use of 3d environment models for mobile robot simulation and localization, 2nd International Conference on Simulation, Modelling, and Programming for Autonomous Robots, 2010, Darmstadt, Germany, in Simulation, Modelling, and Programming for Autonomous Robots, Vol 6472 of Lecture Notes in Computer Science, pp. 461-472, 2010, Springer, Berlin.

Abstract Info PDF
A. Garrell Zulueta and A. Sanfeliu. Local optimization of cooperative robot movements for guiding and regrouping people in a guiding mission, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, Taipei, Taiwan, pp. 3294-3299, IEEE.

Abstract Info PDF
A. Garrell Zulueta and A. Sanfeliu. Model validation: robot behavior in people guidance mission using DTM model and estimation of human motion behavior, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, Taipei, Taiwan, pp. 5836-5841, IEEE.

Abstract Info PDF
G. Alenyà, S. Hernández, J. Andrade-Cetto, A. Sanfeliu and C. Torras. Humanoid robotics and human-centered initiatives at IRI, XXX Jornadas de Automática, 2009, Valladolid, Spain, pp. 1-8, 2009, Universidad de Valladolid, Valladolid, Espanya.

Abstract Info PDF
A. Sanfeliu. URUS project: communication systems, 2009 IROS Workshop on Network Robot Systems, 2009, Saint Louis, in Network Robot Services for the Elderly, pp. 1-44, IEEE.

Abstract Info PDF
V. Ila, J.M. Porta and J. Andrade-Cetto. Reduced state representation in delayed state SLAM, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, Saint Louis, MO, USA, pp. 4919-4924.

Abstract Info PDF
A.A. Ortega, B. Dias, E.H. Teniente, A.J. Bernardino Malheiro, J. Gaspar and J. Andrade-Cetto. Calibrating an outdoor distributed camera network using laser range finder data, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, Saint Louis, MO, USA, pp. 303-308.

Abstract Info PDF
R. Valencia, E.H. Teniente, E. Trulls Fortuny and J. Andrade-Cetto. 3D mapping for urban service robots, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, Saint Louis, MO, USA, pp. 3076-3081.

Abstract Info PDF
J. Andrade-Cetto, A.A. Ortega, E.H. Teniente, E. Trulls Fortuny, R. Valencia and A. Sanfeliu. Combination of distributed camera network and laser-based 3D mapping for urban service robots, 2009 IROS Workshop on Network Robot Systems, 2009, Saint Louis, in Network Robot Services for the Elderly, pp. 69-80, IEEE.

Abstract Info PDF
A. Garrell Zulueta, A. Sanfeliu and F. Moreno-Noguer. Discrete time motion model for guiding people in urban areas using multiple robots, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, Saint Louis, MO, USA, pp. 486-491.

Abstract Info PDF
A. Corominas Murtra, J. M. Mirats Tur and A. Sanfeliu. Integrating asynchronous observations for mobile robot position tracking in cooperative environments, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, Saint Louis, MO, USA, pp. 3850-3855.

Abstract Info PDF
J. M. Mirats Tur, C. Zinggerling and A. Corominas Murtra. GIS map based mobile robot navigation in urban environments, 14th International Conference on Advanced Robotics, 2009, Munich, pp. 1-6.

Abstract Info PDF
M. Villamizar, A. Sanfeliu and J. Andrade-Cetto. Local boosted features for pedestrian detection, 4th Iberian Conference on Pattern Recognition and Image Analysis, 2009, Povoa de Varzim, in Pattern Recognition and Image Analysis, Vol 5524 of Lecture Notes in Computer Science, pp. 128-135, 2009, Springer Verlag.

Abstract Info PDF
A. Sanfeliu, A. Punsola, Y. Yoshimura, M.R. Llácer and M.D. Gramunt. Analysis of the legal challenges required for the deployment of network robot systems in European urban areas, 2009 ICRA Workshop on Network Robot Systems, 2009, Kobe, Japan, pp. 1-8, IEEE.

Abstract Info PDF
M. Villamizar, J. Scandaliaris, A. Sanfeliu and J. Andrade-Cetto. Combining color-based invariant gradient detector with HoG descriptors for robust image detection in scenes under cast shadows, 2009 IEEE International Conference on Robotics and Automation, 2009, Kobe, Japan, pp. 1997-2002, IEEE.

Abstract Info PDF
A.A. Ortega, I. Haddad and J. Andrade-Cetto. Graph-based segmentation of range data with applications to 3D urban mapping, 4th European Conference on Mobile Robots, 2009, Mlini, Croàcia, pp. 193-198, ECMR.

Abstract Info PDF
V. Ila, J.M. Porta and J. Andrade-Cetto. Amortized constant time state estimation in SLAM using a mixed Kalman-information filter, 4th European Conference on Mobile Robots, 2009, Mlini, Croàcia, pp. 211-216, ECMR.

Abstract Info PDF
A. Sanfeliu. Cooperative environment perception in the URUS project, 2009 ICRA Workshop on Network Robot Systems, 2009, Kobe, Japan, pp. 1-37, IEEE.

Abstract Info PDF
A. Corominas Murtra, J. M. Mirats Tur, O. Sandoval and A. Sanfeliu. Real-time software for mobile robot simulation and experimentation in cooperative environments, 1st International Conference on Simulation, Modelling, and Programming for Autonomous Robots, 2008, Venècia, Italia, in Simulation, Modeling, and Programming for Autonomous Robots, Vol 5321 of Lecture Notes in Computer Science, pp. 135-146, 2008, Springer, Berlin, Alemanya.

Abstract Info PDF
A. Sanfeliu. Ubiquitous networking robotics in urban sites (URUS), 2008 IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance, 2008, Benicasim, pp. 1-24, IARP; EURON.

Abstract Info PDF
A. Sanfeliu. URUS: Ubiquitous networking robotics for urban settings, 2008 Cognitive Systems Industry Day, 2008, Sankt Augustin, Alemanya, pp. 1-26, IAIS.

Abstract Info PDF
A. Sanfeliu. URUS: Ubiquitous networking robotics for urban settings, 2008 ICRA Workshop on Network Robot Systems, 2008, Pasadena, Estats Units, pp. 1-44, IEEE.

Abstract Info PDF
A. Sanfeliu. A view of network robot systems in urban areas in Europe, 2008 IROS Workshop on Network Robot Systems, 2008, Nice, França, pp. 1-60, IEEE.

Abstract Info PDF
A. Sanfeliu. An European vision of network robot systems in urban areas, 2008 Network Robot Forum Meeting, 2008, Tokio, Japó, pp. 1-30, NRF.

Abstract Info PDF
A. Sanfeliu. Cooperative issues in network robot systems in urban areas, 2008 Lisbon Workshop on New Challenges for Cooperative Robotics, 2008, Lisboa, Portugal, pp. 1-47, ISR.

Abstract Info PDF
A. Sanfeliu. Cooperative robotics in urban areas, 2008 International Symposium in Network Robot Systems, 2008, Osaka, pp. 1-32, s.n..

Abstract Info PDF
A. Corominas Murtra, J. M. Mirats Tur and A. Sanfeliu. Efficient active global localization for mobile robots operating in large and cooperative environments, 2008 IEEE International Conference on Robotics and Automation, 2008, Pasadena, CA, USA, pp. 2758-2763, IEEE.

Abstract Info PDF
V. Ila, J. Andrade-Cetto and A. Sanfeliu. Efficient vision-based loop closing techniques for delayed state robot mapping, 2008 Frontier Science Conference Series for Young Researchers: Experimental Cognitive Robotics, 2008, Kanagawa, Japó, pp. 1-6, ESF-JSPS.

Abstract Info PDF
A. Sanfeliu. Progress on ubiquitous networking robotics in urban settings, 2007 IROS Workshop on Network Robot Systems, 2007, San Diego, pp. 8-31, IEEE.

Abstract Info PDF
T. Vidal-Calleja, M. Bryson, S. Sukkarieh, A. Sanfeliu and J. Andrade-Cetto. On the observability of bearing only SLAM, 2007 IEEE International Conference on Robotics and Automation, 2007, Rome, Italy, pp. 4114-4119, IEEE.

Abstract Info PDF
V. Ila, J. Andrade-Cetto and A. Sanfeliu. Outdoor delayed-state visually augmented odometry, 6th IFAC Symposium on Intelligent Autonomous Vehicles, 2007, Toulouse, France, Vol 40-15 of IFAC Proceedings Volumes, pp. 548-553, Elsevier.

Abstract Info PDF
T. Vidal-Calleja, A. Sanfeliu and J. Andrade-Cetto. Guiding and localising in real-time a mobile robot with a monocular camera in non-flat terrains, 6th IFAC Symposium on Intelligent Autonomous Vehicles, 2007, Toulouse, France, Vol 40-15 of IFAC Proceedings Volumes, pp. 560-565, Elsevier.

Abstract Info PDF
V. Ila, J. Andrade-Cetto, R. Valencia and A. Sanfeliu. Vision-based loop closing for delayed state robot mapping, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007, San Diego, CA, USA, pp. 3892-3897, IEEE.

Abstract Info PDF
J. Scandaliaris, M. Villamizar, J. Andrade-Cetto and A. Sanfeliu. Robust color contour object detection invariant to shadows, 12th Iberoamerican Congress on Pattern Recognition, 2007, Valparaiso, Xile, in Progress in Pattern Recognition, Image Analysis and Applications, Vol 4756 of Lecture Notes in Computer Science, pp. 301-310, 2008, Springer Verlag, Berlin, Alemanya.

Abstract Info PDF
A. Sanfeliu and J. Andrade-Cetto. Ubiquitous networking robotics in urban settings, 2006 IROS Workshop on Network Robot Systems, 2006, Beijing, Xina, pp. 1-12, IEEE.

Abstract Info PDF

Other Publications

E. Trulls Fortuny. Graphical user interface for the URUS project. Technical Report IRI-TR-08-03, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2008.

Abstract Info PDF
E.H. Teniente and J. Andrade-Cetto. Registration of 3d point clouds for urban robot mapping. Technical Report IRI-TR-08-06, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2008.

Abstract Info PDF

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URUS: Ubiquitous networking robotics in urban settings

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Project Publications

Journal Publications

V. Ila, J.M. Porta and J. Andrade-Cetto. Amortized constant time state estimation in Pose SLAM and hierarchical SLAM using a mixed Kalman-information filter. Robotics and Autonomous Systems, 59(5): 310-318, 2011.

E. Trulls Fortuny, A. Corominas Murtra, J. Perez, G. Ferrer, D. Vasquez, J. M. Mirats Tur and A. Sanfeliu. Autonomous navigation for mobile service robots in urban pedestrian environments. Journal of Field Robotics, 28(3): 329-354, 2011.

T. Vidal-Calleja, A. Sanfeliu and J. Andrade-Cetto. Action selection for single-camera SLAM. IEEE Transactions on Systems, Man and Cybernetics: Part B, 40(6): 1567-1581, 2010.

V. Ila, J.M. Porta and J. Andrade-Cetto. Information-based compact Pose SLAM. IEEE Transactions on Robotics, 26(1): 78-93, 2010.

A. Sanfeliu, M.R. Llácer, M.D. Gramunt, A. Punsola and Y. Yoshimura. Influence of the privacy issue in the deployment and design of networking robots in European urban areas. Advanced Robotics, 24(13): 1873-1899, 2010.

J. M. Mirats Tur, C. Zinggerling and A. Corominas Murtra. Geographical information systems for map based navigation in urban environments. Robotics and Autonomous Systems, 57(9): 922-930, 2009.

F. Moreno-Noguer, A. Sanfeliu and D. Samaras. Dependent multiple cue integration for robust tracking. IEEE Transactions on Pattern Analysis and Machine Intelligence, 30(4): 670-685, 2008.

A. Sanfeliu, N. Hagita and A. Saffiotti. Editorial. Robotics and Autonomous Systems, 56(10): 791-791, 2008.

A. Sanfeliu, N. Hagita and A. Saffiotti. Network robot systems. Robotics and Autonomous Systems, 56(10): 793-797, 2008.

A. Corominas Murtra, J. M. Mirats Tur and A. Sanfeliu. Action evaluation for mobile robot global localization in cooperative environments. Robotics and Autonomous Systems, 56(10): 807-818, 2008.

Conference Publications

A. Corominas Murtra, E. Trulls Fortuny, O. Sandoval, J. Perez, D. Vasquez, J. M. Mirats Tur, M. Ferrer and A. Sanfeliu. Autonomous navigation for urban service mobile robots, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, Taipei, Taiwan, pp. 4141-4146, IEEE.

A. Garrell Zulueta and A. Sanfeliu. Local optimization of cooperative robot movements for guiding and regrouping people in a guiding mission, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, Taipei, Taiwan, pp. 3294-3299, IEEE.

A. Garrell Zulueta and A. Sanfeliu. Model validation: robot behavior in people guidance mission using DTM model and estimation of human motion behavior, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, Taipei, Taiwan, pp. 5836-5841, IEEE.

G. Alenyà, S. Hernández, J. Andrade-Cetto, A. Sanfeliu and C. Torras. Humanoid robotics and human-centered initiatives at IRI, XXX Jornadas de Automática, 2009, Valladolid, Spain, pp. 1-8, 2009, Universidad de Valladolid, Valladolid, Espanya.

A. Sanfeliu. URUS project: communication systems, 2009 IROS Workshop on Network Robot Systems, 2009, Saint Louis, in Network Robot Services for the Elderly, pp. 1-44, IEEE.

V. Ila, J.M. Porta and J. Andrade-Cetto. Reduced state representation in delayed state SLAM, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, Saint Louis, MO, USA, pp. 4919-4924.

A.A. Ortega, B. Dias, E.H. Teniente, A.J. Bernardino Malheiro, J. Gaspar and J. Andrade-Cetto. Calibrating an outdoor distributed camera network using laser range finder data, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, Saint Louis, MO, USA, pp. 303-308.

R. Valencia, E.H. Teniente, E. Trulls Fortuny and J. Andrade-Cetto. 3D mapping for urban service robots, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, Saint Louis, MO, USA, pp. 3076-3081.

A. Garrell Zulueta, A. Sanfeliu and F. Moreno-Noguer. Discrete time motion model for guiding people in urban areas using multiple robots, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, Saint Louis, MO, USA, pp. 486-491.

A. Corominas Murtra, J. M. Mirats Tur and A. Sanfeliu. Integrating asynchronous observations for mobile robot position tracking in cooperative environments, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, Saint Louis, MO, USA, pp. 3850-3855.

J. M. Mirats Tur, C. Zinggerling and A. Corominas Murtra. GIS map based mobile robot navigation in urban environments, 14th International Conference on Advanced Robotics, 2009, Munich, pp. 1-6.

A. Sanfeliu, A. Punsola, Y. Yoshimura, M.R. Llácer and M.D. Gramunt. Analysis of the legal challenges required for the deployment of network robot systems in European urban areas, 2009 ICRA Workshop on Network Robot Systems, 2009, Kobe, Japan, pp. 1-8, IEEE.

M. Villamizar, J. Scandaliaris, A. Sanfeliu and J. Andrade-Cetto. Combining color-based invariant gradient detector with HoG descriptors for robust image detection in scenes under cast shadows, 2009 IEEE International Conference on Robotics and Automation, 2009, Kobe, Japan, pp. 1997-2002, IEEE.

A.A. Ortega, I. Haddad and J. Andrade-Cetto. Graph-based segmentation of range data with applications to 3D urban mapping, 4th European Conference on Mobile Robots, 2009, Mlini, Croàcia, pp. 193-198, ECMR.

V. Ila, J.M. Porta and J. Andrade-Cetto. Amortized constant time state estimation in SLAM using a mixed Kalman-information filter, 4th European Conference on Mobile Robots, 2009, Mlini, Croàcia, pp. 211-216, ECMR.

A. Sanfeliu. Cooperative environment perception in the URUS project, 2009 ICRA Workshop on Network Robot Systems, 2009, Kobe, Japan, pp. 1-37, IEEE.

A. Sanfeliu. Ubiquitous networking robotics in urban sites (URUS), 2008 IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance, 2008, Benicasim, pp. 1-24, IARP; EURON.

A. Sanfeliu. URUS: Ubiquitous networking robotics for urban settings, 2008 Cognitive Systems Industry Day, 2008, Sankt Augustin, Alemanya, pp. 1-26, IAIS.

A. Sanfeliu. URUS: Ubiquitous networking robotics for urban settings, 2008 ICRA Workshop on Network Robot Systems, 2008, Pasadena, Estats Units, pp. 1-44, IEEE.

A. Sanfeliu. A view of network robot systems in urban areas in Europe, 2008 IROS Workshop on Network Robot Systems, 2008, Nice, França, pp. 1-60, IEEE.

A. Sanfeliu. An European vision of network robot systems in urban areas, 2008 Network Robot Forum Meeting, 2008, Tokio, Japó, pp. 1-30, NRF.

A. Sanfeliu. Cooperative issues in network robot systems in urban areas, 2008 Lisbon Workshop on New Challenges for Cooperative Robotics, 2008, Lisboa, Portugal, pp. 1-47, ISR.

A. Sanfeliu. Cooperative robotics in urban areas, 2008 International Symposium in Network Robot Systems, 2008, Osaka, pp. 1-32, s.n..

A. Corominas Murtra, J. M. Mirats Tur and A. Sanfeliu. Efficient active global localization for mobile robots operating in large and cooperative environments, 2008 IEEE International Conference on Robotics and Automation, 2008, Pasadena, CA, USA, pp. 2758-2763, IEEE.

V. Ila, J. Andrade-Cetto and A. Sanfeliu. Efficient vision-based loop closing techniques for delayed state robot mapping, 2008 Frontier Science Conference Series for Young Researchers: Experimental Cognitive Robotics, 2008, Kanagawa, Japó, pp. 1-6, ESF-JSPS.

A. Sanfeliu. Progress on ubiquitous networking robotics in urban settings, 2007 IROS Workshop on Network Robot Systems, 2007, San Diego, pp. 8-31, IEEE.

T. Vidal-Calleja, M. Bryson, S. Sukkarieh, A. Sanfeliu and J. Andrade-Cetto. On the observability of bearing only SLAM, 2007 IEEE International Conference on Robotics and Automation, 2007, Rome, Italy, pp. 4114-4119, IEEE.

V. Ila, J. Andrade-Cetto and A. Sanfeliu. Outdoor delayed-state visually augmented odometry, 6th IFAC Symposium on Intelligent Autonomous Vehicles, 2007, Toulouse, France, Vol 40-15 of IFAC Proceedings Volumes, pp. 548-553, Elsevier.

T. Vidal-Calleja, A. Sanfeliu and J. Andrade-Cetto. Guiding and localising in real-time a mobile robot with a monocular camera in non-flat terrains, 6th IFAC Symposium on Intelligent Autonomous Vehicles, 2007, Toulouse, France, Vol 40-15 of IFAC Proceedings Volumes, pp. 560-565, Elsevier.

V. Ila, J. Andrade-Cetto, R. Valencia and A. Sanfeliu. Vision-based loop closing for delayed state robot mapping, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007, San Diego, CA, USA, pp. 3892-3897, IEEE.

A. Sanfeliu and J. Andrade-Cetto. Ubiquitous networking robotics in urban settings, 2006 IROS Workshop on Network Robot Systems, 2006, Beijing, Xina, pp. 1-12, IEEE.

Other Publications

E. Trulls Fortuny. Graphical user interface for the URUS project. Technical Report IRI-TR-08-03, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2008.

E.H. Teniente and J. Andrade-Cetto. Registration of 3d point clouds for urban robot mapping. Technical Report IRI-TR-08-06, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2008.