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Detalhes

Detalhes

040
Publicações

2022

3DupIC: An Underwater Scan Matching Method for Three-Dimensional Sonar Registration

Autores
Ferreira, A; Almeida, J; Martins, A; Matos, A; Silva, E;

Publicação
SENSORS

Abstract
This work presents a six degrees of freedom probabilistic scan matching method for registration of 3D underwater sonar scans. Unlike previous works, where local submaps are built to overcome measurement sparsity, our solution develops scan matching directly from the raw sonar data. Our method, based on the probabilistic Iterative Correspondence (pIC), takes measurement uncertainty into consideration while developing the registration procedure. A new probabilistic sensor model was developed to compute the uncertainty of each scan measurement individually. Initial displacement guesses are obtained from a probabilistic dead reckoning approach, also detailed in this document. Experiments, based on real data, demonstrate superior robustness and accuracy of our method with respect to the popular ICP algorithm. An improved trajectory is obtained by integration of scan matching updates in the localization data fusion algorithm, resulting in a substantial reduction of the original dead reckoning drift.

2022

An holistic monitoring system for measurement of the atmospheric electric field over the ocean - The SAIL campaign

Autores
Barbosa, S; Dias, N; Almeida, C; Amaral, G; Ferreira, A; Lima, L; Silva, I; Martins, A; Almeida, J; Camilo, M; Silva, E;

Publicação
OCEANS 2022

Abstract
The atmospheric electric field is a key characteristic of the Earth system. Despite its relevance, oceanic measurements of the atmospheric electric field are scarce, as typically oceanic measurements tend to be focused on ocean properties rather than on the atmosphere above. This motivated the set-up of an innovative campaign on board the sail ship NRP Sagres focused on the measurement of the atmospheric electric field in the marine boundary layer. This paper describes the monitoring system that was developed to measure the atmospheric electric field during the planned circumnavigation expedition of the sail ship NRP Sagres. © 2022 IEEE.

2021

Autonomous High-Resolution Image Acquisition System for Plankton

Autores
Resende, J; Barbosa, P; Almeida, J; Martins, A;

Publicação
2021 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC)

Abstract

2021

Emergency Landing Spot Detection Algorithm for Unmanned Aerial Vehicles

Autores
Loureiro, G; Dias, A; Martins, A; Almeida, J;

Publicação
REMOTE SENSING

Abstract
The use and research of Unmanned Aerial Vehicle (UAV) have been increasing over the years due to the applicability in several operations such as search and rescue, delivery, surveillance, and others. Considering the increased presence of these vehicles in the airspace, it becomes necessary to reflect on the safety issues or failures that the UAVs may have and the appropriate action. Moreover, in many missions, the vehicle will not return to its original location. If it fails to arrive at the landing spot, it needs to have the onboard capability to estimate the best area to safely land. This paper addresses the scenario of detecting a safe landing spot during operation. The algorithm classifies the incoming Light Detection and Ranging (LiDAR) data and store the location of suitable areas. The developed method analyses geometric features on point cloud data and detects potential right spots. The algorithm uses the Principal Component Analysis (PCA) to find planes in point cloud clusters. The areas that have a slope less than a threshold are considered potential landing spots. These spots are evaluated regarding ground and vehicle conditions such as the distance to the UAV, the presence of obstacles, the area’s roughness, and the spot’s slope. Finally, the output of the algorithm is the optimum spot to land and can vary during operation. The proposed approach evaluates the algorithm in simulated scenarios and an experimental dataset presenting suitability to be applied in real-time operations.

2020

Teaching robotics with a simulator environment developed for the autonomous driving competition

Autores
Fernandes, D; Pinheiro, F; Dias, A; Martins, A; Almeida, J; Silva, E;

Publicação
ROBOTICS IN EDUCATION: CURRENT RESEARCH AND INNOVATIONS

Abstract
Teaching robotics based on challenge of our daily lives is always more motivating for students and teachers. Several competitions of self-driving have emerged recently, challenging students and researchers to develop solutions addressing the autonomous driving systems. The Portuguese Festival Nacional de Robótica (FNR) Autonomous Driving Competition is one of those examples. Even though the competition is an exciting challenger, it requires the development of real robots, which implies several limitations that may discourage the students and compromise a fluid teaching process. The simulation can contribute to overcome this limitation and can assume an important role as a tool, providing an effortless and costless solution, allowing students and researchers to keep their focus on the main issues. This paper presents a simulation environment for FNR, providing an overall framework able to support the exploration of robotics topics like perception, navigation, data fusion and deep learning based on the autonomous driving competition. © Springer Nature Switzerland AG 2020.

Teses
supervisionadas

2018

Sistema de Perceção 3D Subaquático com Projetor Laser rotativo: Calibração e Reconstrução Tridimensional

Autor
EDUARDO JOSÉ PINTO SOARES

Instituição
IPP-ISEP

2018

Análise comparativa entre métodos de Northseeking para veículo de mineração subaquática

Autor
CAIO TEIXEIRA LOMBA

Instituição
IPP-ISEP

2018

Calibração dos parâmetros extrı́nsecos de um LiDAR num UAV

Autor
ANDRÉ FILIPE MARTINS FERREIRA

Instituição
IPP-ISEP

2018

Real-Time LiDAR-based Power Lines Detection for Unmanned Aerial Vehicles

Autor
FÁBIO ANDRÉ COSTA AZEVEDO

Instituição
IPP-ISEP

2017

APLICAÇÃO DA METODOLOGIA SMED NA ÁREA DE ORLAGEM E FURAÇÃO NA IKEA INDUSTRY PORTUGAL

Autor
JOANA BARBOSA DA SILVA

Instituição
IPP-ISEP