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About

About

Hi!

I'm a senior researcher at Centre for Robotics and Autonomous Systems (CRAS) at INESC TEC.

I have received a MS.c. degree in Electrical and Computer Engineering from the Faculty of Engineering of the University of Porto (FEUP) in 2005, and a Ph.D. from the Department of Electrical and Computer Engineering of FEUP, Portugal, in 2014.

I'm being involved in several R&D projects for the last 7 years (related with mobile robotic, intelligent systems and autonomous platforms) as well as in some partnerhips with the industry. Moreover, I'm the principal author of several articles in top-ranked journals of robotics and computer vision.

Currently, my research interests include artificial intelligence, robotics, visual motion perception, motion analysis, optical flow, unsupervised segmentation, 3D reconstructions and underwater imaging.

Interest
Topics
Details

Details

005
Publications

2019

A mosaicking technique for object identification in underwater environments

Authors
Nunes, AP; Silva Gaspar, ARS; Pinto, AM; Matos, AC;

Publication
Sensor Review

Abstract
Purpose: This paper aims to present a mosaicking method for underwater robotic applications, whose result can be provided to other perceptual systems for scene understanding such as real-time object recognition. Design/methodology/approach: This method is called robust and large-scale mosaicking (ROLAMOS) and presents an efficient frame-to-frame motion estimation with outlier removal and consistency checking that maps large visual areas in high resolution. The visual mosaic of the sea-floor is created on-the-fly by a robust registration procedure that composes monocular observations and manages the computational resources. Moreover, the registration process of ROLAMOS aligns the observation to the existing mosaic. Findings: A comprehensive set of experiments compares the performance of ROLAMOS to other similar approaches, using both data sets (publicly available) and live data obtained by a ROV operating in real scenes. The results demonstrate that ROLAMOS is adequate for mapping of sea-floor scenarios as it provides accurate information from the seabed, which is of extreme importance for autonomous robots surveying the environment that does not rely on specialized computers. Originality/value: The ROLAMOS is suitable for robotic applications that require an online, robust and effective technique to reconstruct the underwater environment from only visual information. © 2018, Emerald Publishing Limited.

2018

Comparative Study of Visual Odometry and SLAM Techniques

Authors
Gaspar, AR; Nunes, A; Pinto, A; Matos, A;

Publication
Advances in Intelligent Systems and Computing

Abstract
The use of the odometry and SLAM visual methods in autonomous vehicles has been growing. Optical sensors provide valuable information from the scenario that enhance the navigation of autonomous vehicles. Although several visual techniques are already available in the literature, their performance could be significantly affected by the scene captured by the optical sensor. In this context, this paper presents a comparative analysis of three monocular visual odometry methods and three stereo SLAM techniques. The advantages, particularities and performance of each technique are discussed, to provide information that is relevant for the development of new research and novel robotic applications. © Springer International Publishing AG 2018.

2018

Urban@CRAS dataset: Benchmarking of visual odometry and SLAM techniques

Authors
Gaspar, AR; Nunes, A; Pinto, AM; Matos, A;

Publication
Robotics and Autonomous Systems

Abstract

2018

A Safety Monitoring Model for a Faulty Mobile Robot

Authors
Leite, A; Pinto, A; Matos, A;

Publication
ROBOTICS

Abstract
The continued development of mobile robots (MR) must be accompanied by an increase in robotics' safety measures. Not only must MR be capable of detecting and diagnosing faults, they should also be capable of understanding when the dangers of a mission, to themselves and the surrounding environment, warrant the abandonment of their endeavors. Analysis of fault detection and diagnosis techniques helps shed light on the challenges of the robotic field, while also showing a lack of research in autonomous decision-making tools. This paper proposes a new skill-based architecture for mobile robots, together with a novel risk assessment and decision-making model to overcome the difficulties currently felt in autonomous robot design.

2017

A Fast and Robust Kinematic Model for a 12 DoF Hyper-Redundant Robot Positioning: an Optimization Proposal

Authors
Lima, J; Pereira, AI; Costa, P; Pinto, A; Costa, P;

Publication
PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON NUMERICAL ANALYSIS AND APPLIED MATHEMATICS 2016 (ICNAAM-2016)

Abstract
This paper describes an optimization procedure for a robot with 12 degrees of freedom avoiding the inverse kinematics problem, which is a hard task for this type of robot manipulator. This robot can be used to pick and place tasks in complex designs. Combining an accurate and fast direct kinematics model with optimization strategies, it is possible to achieve the joints angles for a desired end-effector position and orientation. The optimization methods stretched simulated annealing algorithm and genetic algorithm were used. The solutions found were validated using data originated by a real and by a simulated robot formed by 12 servomotors with a gripper.

Supervised
thesis

2017

Mapeamento e odometria visual em ambiente subáquatico

Author
Alexandra Pereira Nunes

Institution
UP-FEUP

2017

Navegação e mapeamento subaquáticos simultâneos

Author
Ana Rita da Silva Gaspar

Institution
UP-FEUP

2016

Inspeção e verificação da correta assemblagem/combinação de peças em linhas de produção

Author
Ricardo Ferreira da Silva

Institution
UP-FEUP