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Publicações

Publicações por Carlos Miguel Costa

2016

2D Cloud Template Matching - A comparison between Iterative Closest Point and Perfect Match

Autores
Sobreira, H; Rocha, L; Costa, C; Lima, J; Costa, P; Paulo Moreira, AP;

Publicação
2016 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC 2016)

Abstract
Self-localization of mobile robots in the environment is one of the most fundamental problems in the robotics field. It is a complex and challenging problem due to the high requirements of autonomous mobile vehicles, particularly with regard to algorithms accuracy, robustness and computational efficiency. In this paper we present the comparison of two of the most used map-matching algorithm, which are the Iterative Closest Point and the Perfect Match. This category of algorithms are normally applied in localization based on natural landmarks. They were compared using an extensive collection of metrics, such as accuracy, computational efficiency, convergence speed, maximum admissible initialization error and robustness to outliers in the robots sensors data. The test results were performed in both simulated and real world environments.

2015

3 DoF/6 DoF Localization System for Low Computing Power Mobile Robot Platforms

Autores
Costa, CM; Sobreira, HM; Sousa, AJ; Veiga, G;

Publicação
Cutting Edge Research in Technologies

Abstract

2016

Recognition of Banknotes in Multiple Perspectives Using Selective Feature Matching and Shape Analysis

Autores
Costa, CM; Veiga, G; Sousa, A;

Publicação
2016 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC 2016)

Abstract
Reliable banknote recognition is critical for detecting counterfeit banknotes in ATMs and help visual impaired people. To solve this problem, it was implemented a computer vision system that can recognize multiple banknotes in different perspective views and scales, even when they are within cluttered environments in which the lighting conditions may vary considerably. The system is also able to recognize banknotes that are partially visible, folded, wrinkled or even worn by usage. To accomplish this task, the system relies on computer vision algorithms, such as image preprocessing, feature detection, description and matching. To improve the confidence of the banknote recognition the feature matching results are used to compute the contour of the banknotes using an homography that later on is validated using shape analysis algorithms. The system successfully recognized all Euro banknotes in 80 test images even when there were several overlapping banknotes in the same test image.

2017

Evaluation of Stanford NER for extraction of assembly information from instruction manuals

Autores
Costa, CM; Veiga, G; Sousa, A; Nunes, S;

Publicação
2017 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2017, Coimbra, Portugal, April 26-28, 2017

Abstract

2017

Beam for the steel fabrication industry robotic systems

Autores
Rocha, LF; Tavares, P; Malaca, P; Costa, C; Silva, J; Veiga, G;

Publicação
ISARC 2017 - Proceedings of the 34th International Symposium on Automation and Robotics in Construction

Abstract
In this paper, we present a comparison between the older DSTV file format and the newer version of the IFC standard, dedicating special attention of its impact in the robotization of welding and cutting processes in the steel structure fabrication industry. In the last decade, we have seen in this industry a significant increase in the request for automation. These new requirements are imposed by a market focused on the productivity enhancement through automation. Because of this paradigm change, the information structure and workflow provided by the DSTV format needed to be revised, namely the one related with the plan and management of steel fabrication processes. Therefore, with this work we enhance the importance of the increased digitalization of information that the newer version of the IFC standard provide, by showing how this information can be used to develop advanced robotic cells. More in detail, we will focus on the automatic generation of robot welding and cutting trajectories, and in the automatic part assembly planning during components fabrications. Besides these advantages, as this information is normally described having as base a perfect CAD model of the metallic structure, the resultant robot trajectories will have some dimensional error when fitted with the real physical component. Hence, we also present some automatic approaches based on a laser scanner and simple heuristics to overcome this limitations.

2017

Pose Invariant Object Recognition Using a Bag of Words Approach

Autores
Costa, CM; Sousa, A; Veiga, G;

Publicação
ROBOT 2017: Third Iberian Robotics Conference - Advances in Intelligent Systems and Computing

Abstract

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