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About

About

Ricardo Barbosa Sousa was born in Vila Nova de Gaia, Portugal, in 1997. He obtained a M.Sc. degree in Electrical and Computer Engineering (integrated course) from the Faculty of Engineering of the University of Porto (FEUP) in 2020. Currently, he is pursuing a Ph.D. degree in Electrical and Computer Engineering at FEUP and has a research scholarship at CRIIS - Centre for Robotics in Industry and Intelligent Systems from INESC TEC - Institute for Systems and Computer Engineering, Technology and Science. His main research interests are automation, calibration, control, localization and mapping, mobile robots, and sensor fusion.

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Publications

2021

Extrinsic sensor calibration methods for mobile robots: A short review

Authors
Sousa, RB; Petry, MR; Moreira, AP;

Publication
Lecture Notes in Electrical Engineering

Abstract
Data acquisition is a critical task for localisation and perception of mobile robots. It is necessary to compute the relative pose between onboard sensors to process the data in a common frame. Thus, extrinsic calibration computes the sensor’s relative pose improving data consistency between them. This paper performs a literature review on extrinsic sensor calibration methods prioritising the most recent ones. The sensors types considered were laser scanners, cameras and IMUs. It was found methods for robot–laser, laser–laser, laser–camera, robot–camera, camera–camera, camera–IMU, IMU–IMU and laser–IMU calibration. The analysed methods allow the full calibration of a sensory system composed of lasers, cameras and IMUs. © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2021.

2021

A Pose Control Algorithm for Omnidirectional Robots

Authors
Sousa, RB; Costa, PG; Moreira, AP;

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

Abstract

2021

Accuracy and Repeatability Tests on HoloLens 2 and HTC Vive

Authors
Soares, I; Sousa, RB; Petry, M; Moreira, AP;

Publication

Abstract
Augmented and Virtual Reality have been experiencing a rapidly growth in recent years, but there is not still a deep knowledge on their capabilities and where they could be explored. In that sense, this paper presents a study on the accuracy and repeatability of the Microsoft's HoloLens 2 (Augmented Reality device) and HTC Vive (Virtual Reality device) using an OptiTrack system as ground truth. For the HoloLens 2, the method used was hand tracking, while in HTC Vive, the object tracked was the system's hand controller. A series of tests in different scenarios and situations were performed to explore what could influence the measures. The HTC Vive obtained results in the millimetre scale, while the HoloLens 2 revealed not so accurate measures (around 2 centimetres). Although the difference can seem to be considerable, the fact that HoloLens 2 was tracking the user's hand and not an inherit controller made a huge impact. The results were considered a significant step for the on going project of developing a human-robot interface to program by demonstration an industrial robot using Extended Reality, which shows great potential to succeed based on this data.

2020

Evolution of odometry calibration methods for ground mobile robots

Authors
Sousa, RB; Petry, MR; Moreira, AP;

Publication
2020 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2020

Abstract
Localisation is a critical problem in ground mobile robots. For dead reckoning, odometry is usually used. A disadvantage of using it alone is unbounded error accumulation. So, odometry calibration is critical in reducing error propagation. This paper presents an analysis of the developments and advances of systematic methods for odometry calibration. Four steering geometries were analysed, namely differential drive, Ackerman, tricycle and omnidirectional. It highlights the advances made on this field and covers the methods since UMBmark was proposed. The points of analysis are the techniques and test paths used, errors considered in calibration, and experiments made to validate each method. It was obtained fifteen methods for differential drive, three for Ackerman, two for tricycle, and three for the omnidirectional steering geometry. A disparity was noted, compared with the real utilisation, between the number of published works addressing differential drive and tricycle/Ackerman. Still, odometry continues evolving since UMBmark was proposed. © 2020 IEEE.