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About

I'm a fast learner software engineer, always looking to expand my knowledge in new technologies and with great interest in science (computer science and engineering, robotics, biotechnology, space exploration, among others).

My main research areas are augmented reality, 3D perception, computer vision, safety critical systems, assembly automation, localization and mapping of autonomous vehicles among many others within the industrial and mobile robotics fields.

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Publications

2022

Using Simulation to Evaluate a Tube Perception Algorithm for Bin Picking

Authors
Leão, G; Costa, CM; Sousa, A; Reis, LP; Veiga, G;

Publication
Robotics

Abstract
Bin picking is a challenging problem that involves using a robotic manipulator to remove, one-by-one, a set of objects randomly stacked in a container. In order to provide ground truth data for evaluating heuristic or machine learning perception systems, this paper proposes using simulation to create bin picking environments in which a procedural generation method builds entangled tubes that can have curvatures throughout their length. The output of the simulation is an annotated point cloud, generated by a virtual 3D depth camera, in which the tubes are assigned with unique colors. A general metric based on micro-recall is proposed to compare the accuracy of point cloud annotations with the ground truth. The synthetic data is representative of a high quality 3D scanner, given that the performance of a tube modeling system when given 640 simulated point clouds was similar to the results achieved with real sensor data. Therefore, simulation is a promising technique for the automated evaluation of solutions for bin picking tasks.

2021

Reconfigurable Grasp Planning Pipeline with Grasp Synthesis and Selection Applied to Picking Operations in Aerospace Factories

Authors
de Souza, JPC; Costa, CM; Rocha, LF; Arrais, R; Moreira, AP; Pires, EJS; Boaventura Cunha, J;

Publication
Robotics and Computer-Integrated Manufacturing

Abstract

2021

Force control heuristics for surpassing pose uncertainty in mobile robotic assembly platforms

Authors
Moutinho, D; Rebelo, P; Costa, C; Rocha, L; Veiga, G;

Publication
2021 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

Abstract

2021

On the development of a collaborative robotic system for industrial coating cells

Authors
Arrais, R; Costa, CM; Ribeiro, P; Rocha, LF; Silva, M; Veiga, G;

Publication
The International Journal of Advanced Manufacturing Technology

Abstract

2020

Perception of Entangled Tubes for Automated Bin Picking

Authors
Leao, G; Costa, CM; Sousa, A; Veiga, G;

Publication
Robot 2019: Fourth Iberian Robotics Conference - Advances in Robotics, Volume 1, Porto, Portugal, 20-22 November, 2019.

Abstract