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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

2022

OptiOdom: a Generic Approach for Odometry Calibration of Wheeled Mobile Robots

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

Publication
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS

Abstract
Odometry calibration adjusts the kinematic parameters or directly the robot's model to improve the wheeled odometry accuracy. The existent literature considers in the calibration procedure only one steering geometry (differential drive, Ackerman/tricycle, or omnidirectional). Our method, the OptiOdom calibration algorithm, generalizes the odometry calibration problem. It is developed an optimization-based approach that uses the improved Resilient Propagation without weight-backtracking (iRprop-) for estimating the kinematic parameters using only the position data of the robot. Even though a calibration path is suggested to be used in the calibration procedure, the OptiOdom method is not path-specific. In the experiments performed, the OptiOdom was tested using four different robots on a square, arbitrary, and suggested calibration paths. The OptiTrack motion capture system was used as a ground-truth. Overall, the use of OptiOdom led to improvements in the odometry accuracy (in terms of maximum distance and absolute orientation errors over the path) over the existent literature while being a generalized approach to the odometry calibration problem. The OptiOdom and the methods from the literature implemented in the article are available in GitHub as an open-source repository.

2022

Gerber File Parsing for Conversion to Bitmap Image–The VINCI7D Case Study

Authors
Sousa, RB; Rocha, C; Mendonca, HS; Moreira, AP; Silva, MF;

Publication
IEEE ACCESS

Abstract

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
MULTIMODAL TECHNOLOGIES AND INTERACTION

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.