Geert De Cubber | Royal Military Academy Belgium (original) (raw)

Papers by Geert De Cubber

Research paper thumbnail of ICARUS : Providing Unmanned Search and Rescue Tools

Research paper thumbnail of Audio-Visual Signal Processing: Speech and emotion processing for human-machine interaction

Research paper thumbnail of Training and Support system in the Cloud for improving the situational awareness in Search and Rescue (SAR) operations

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014), 2014

In this paper, a Training and Support system for Search and Rescue operations is described. The s... more In this paper, a Training and Support system for Search and Rescue operations is described. The system is a component of the ICARUS project (http://www.fp7-icarus.eu) which has a goal to develop sensor, robotic and communication technologies for Human Search And Rescue teams. The support system for planning and managing complex SAR operations is implemented as a command and control component that integrates different sources of spatial information, such as maps of the affected area, satellite images and sensor data coming from the unmanned robots, in order to provide a situation snapshot to the rescue team who will make the necessary decisions. Support issues will include planning of frequency resources needed for given areas, prediction of coverage conditions, location of fixed communication relays, etc. The training system is developed for the ICARUS operators controlling UGVs (Unmanned Ground Vehicles), UAVs (Unmanned Aerial Vehicles) and USVs (Unmanned Surface Vehicles) from a unified Remote Control Station (RC2). The Training and Support system is implemented in SaaS model (Software as a Service). Therefore, its functionality is available over the Ethernet. SAR ICARUS teams from different countries can be trained simultaneously on a shared virtual stage. In this paper we will show the multi-robot 3D mapping component (aerial vehicle and ground vehicles). We will demonstrate that these 3D maps can be used for Training purpose. Finally we demonstrate current approach for ICARUS Urban SAR (USAR) and Marine SAR (MSAR) operation training.

Research paper thumbnail of Training and Support system in the Cloud for improving the situational awareness in Search and Rescue (SAR) operations

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014), 2014

In this paper, a Training and Support system for Search and Rescue operations is described. The s... more In this paper, a Training and Support system for Search and Rescue operations is described. The system is a component of the ICARUS project (http://www.fp7-icarus.eu) which has a goal to develop sensor, robotic and communication technologies for Human Search And Rescue teams. The support system for planning and managing complex SAR operations is implemented as a command and control component that integrates different sources of spatial information, such as maps of the affected area, satellite images and sensor data coming from the unmanned robots, in order to provide a situation snapshot to the rescue team who will make the necessary decisions. Support issues will include planning of frequency resources needed for given areas, prediction of coverage conditions, location of fixed communication relays, etc. The training system is developed for the ICARUS operators controlling UGVs (Unmanned Ground Vehicles), UAVs (Unmanned Aerial Vehicles) and USVs (Unmanned Surface Vehicles) from a unified Remote Control Station (RC2). The Training and Support system is implemented in SaaS model (Software as a Service). Therefore, its functionality is available over the Ethernet. SAR ICARUS teams from different countries can be trained simultaneously on a shared virtual stage. In this paper we will show the multi-robot 3D mapping component (aerial vehicle and ground vehicles). We will demonstrate that these 3D maps can be used for Training purpose. Finally we demonstrate current approach for ICARUS Urban SAR (USAR) and Marine SAR (MSAR) operation training.

Research paper thumbnail of Training and Support system in the Cloud for improving the situational awareness in Search and Rescue (SAR) operations

In this paper, a Training and Support system for Search and Rescue operations is described. The s... more In this paper, a Training and Support system for Search and Rescue operations is described. The system is a component of the ICARUS project (http://www.fp7-icarus.eu) which has a goal to develop sensor, robotic and communication technologies for Human Search And Rescue teams. The support system for planning and managing complex SAR operations is implemented as a command and control component that integrates different sources of spatial information, such as maps of the affected area, satellite images and sensor data coming from the unmanned robots, in order to provide a situation snapshot to the rescue team who will make the necessary decisions. Support issues will include planning of frequency resources needed for given areas, prediction of coverage conditions, location of fixed communication relays, etc. The training system is developed for the ICARUS operators controlling UGVs (Unmanned Ground Vehicles), UAVs (Unmanned Aerial Vehicles) and USVs (Unmanned Surface Vehicles) from a unified Remote Control Station (RC2). The Training and Support system is implemented in SaaS model (Software as a Service). Therefore, its functionality is available over the Ethernet. SAR ICARUS teams from different countries can be trained simultaneously on a shared virtual stage. In this paper we will show the multi-robot 3D mapping component (aerial vehicle and ground vehicles). We will demonstrate that these 3D maps can be used for Training purpose. Finally we demonstrate current approach for ICARUS Urban SAR (USAR) and Marine SAR (MSAR) operation training.

Research paper thumbnail of Autonomous Guidance for a UAS Along a Staircase

Lecture Notes in Computer Science, 2015

Research paper thumbnail of Icarus Rpas and Their Operational Use in Bosnia

Research paper thumbnail of The EU-ICARUS project: Developing assistive robotic tools for search and rescue operations

2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2013

The ICARUS EU-FP7 project deals with the development of a set of integrated components to assist ... more The ICARUS EU-FP7 project deals with the development of a set of integrated components to assist search and rescue teams in dealing with the difficult and dangerous, but lifesaving task of finding human survivors. The ICARUS tools consist of assistive unmanned air, ground and sea vehicles, equipped with victim detection sensors. The unmanned vehicles collaborate as a coordinated team, communicating via ad-hoc cognitive radio networking. To ensure optimal human-robot collaboration, these tools are seamlessly integrated into the C4I (command, control, communications, computers, and intelligence) equipment of the human crisis managers and a set of training and support tools is provided to them to learn to use the ICARUS system.

Research paper thumbnail of Search and Rescue robots developed by the European ICARUS project

This paper discusses the efforts of the European ICARUS project towards the development of unmann... more This paper discusses the efforts of the European ICARUS project towards the development of unmanned search and rescue (SAR) robots. ICARUS project proposes to equip first responders with a comprehensive and integrated set of remotely operated SAR tools, to increase the situational awareness of human crisis managers. In the event of large crises, a primordial task of the fire and rescue services is the search for human survivors on the incident site, which is a complex and dangerous task. The introduction of remotely operated SAR devices can offer a valuable tool to save human lives and to speed up the SAR process. Therefore, ICARUS concentrates on the development of unmanned SAR technologies for detecting, locating and rescuing humans. The remotely operated SAR devices are foreseen to be the first explorers of the area, along with in-situ supporters to act as safeguards to human personnel. While the ICARUS project also considers the development of marine and aerial robots, this paper will mostly concentrate on the development of the unmanned ground vehicles (UGVs) for SAR. Two main UGV platforms are being developed within the context of the project: a large UGV including a powerful arm for manipulation, which is able to make structural changes in disaster scenarios. The large UGV also serves as a base platform for a small UGV (and possibly also a UAV), which is used for entering small enclosures, while searching for human survivors. In order not to increase the cognitive load of the human crisis managers, the SAR robots will be designed to navigate individually or cooperatively and to follow high-level instructions from the base station, being able to navigate in an autonomous and semi-autonomous manner. The robots connect to the base station and to each other using a wireless self-organizing cognitive network of mobile communication nodes which adapts to the terrain. The SAR robots are equipped with sensors that detect the presence of humans and will also be equipped with a wide array of other types of sensors. At the base station, the data is processed and combined with geographical information, thus enhancing the situational awareness of the personnel leading the operation with in-situ processed data that can improve decision-making.

Research paper thumbnail of Operational RPAS scenarios envisaged for search & rescue by the EU FP7 ICARUS project

The ICARUS EU-FP7 project deals with the development of a set of integrated components to assist ... more The ICARUS EU-FP7 project deals with the development of a set of integrated components to assist search and rescue teams in dealing with the difficult and dangerous, but life-saving task of finding human survivors. The ICARUS tools consist of assistive unmanned air, ground and sea vehicles, equipped with victim detection sensors. The unmanned vehicles collaborate as a coordinated team, communicating via ad hoc cognitive radio networking. To ensure optimal human-robot collaboration, these tools are seamlessly integrated into the C4I equipment of the human crisis managers and a set of training and support tools is provided to them to learn to use the ICARUS system.

Research paper thumbnail of TIRAMISU-ICARUS: FP7-Projects Challenges for Robotics Systems

TIRAMISU: Clearing large civilian areas from anti-personnel landmines and cluster munitions is a ... more TIRAMISU: Clearing large civilian areas from anti-personnel landmines and cluster munitions is a difficult problem because of the large diversity of hazardous areas and explosive contamination. A single solution does not exist and many Mine Action actors have called for a toolbox from which they could choose the tools best fit to a given situation. Some have built their own toolboxes, usually specific to their activities, such as clearance. The TIRAMISU project aims at providing the foundation for a global toolbox that will cover the main Mine Action activities, from the survey of large areas to the actual disposal of explosive hazards, including Mine Risk Education. The toolbox produced by the project will provide Mine Action actors with a large set of tools, grouped into thematic modules, which will help them to better perform their job. These tools will have been designed with the help of end-users and validated by them in mine affected countries.

Research paper thumbnail of Remotely Piloted Aircraft Systems - The Global Perspective - Yearbook 2013/2014

Research paper thumbnail of Audio-Visual Signal Processing: Speech and emotion processing for human-machine interaction

Research paper thumbnail of ICARUS RPAS AND THEIR OPERATIONAL USE IN BOSNIA

Research paper thumbnail of Search and Rescue robots developed by the European ICARUS project

This paper discusses the efforts of the European ICARUS project towards the development of unmann... more This paper discusses the efforts of the European ICARUS project towards the development of unmanned search and rescue (SAR) robots. ICARUS project proposes to equip first responders with a comprehensive and integrated set of remotely operated SAR tools, to increase the situational awareness of human crisis managers. In the event of large crises, a primordial task of the fire and rescue services is the search for human survivors on the incident site, which is a complex and dangerous task. The introduction of remotely operated SAR devices can offer a valuable tool to save human lives and to speed up the SAR process. Therefore, ICARUS concentrates on the development of unmanned SAR technologies for detecting, locating and rescuing humans. The remotely operated SAR devices are foreseen to be the first explorers of the area, along with in-situ supporters to act as safeguards to human personnel. While the ICARUS project also considers the development of marine and aerial robots, this paper will mostly concentrate on the development of the unmanned ground vehicles (UGVs) for SAR. Two main UGV platforms are being developed within the context of the project: a large UGV including a powerful arm for manipulation, which is able to make structural changes in disaster scenarios. The large UGV also serves as a base platform for a small UGV (and possibly also a UAV), which is used for entering small enclosures, while searching for human survivors. In order not to increase the cognitive load of the human crisis managers, the SAR robots will be designed to navigate individually or cooperatively and to follow high-level instructions from the base station, being able to navigate in an autonomous and semi-autonomous manner. The robots connect to the base station and to each other using a wireless self-organizing cognitive network of mobile communication nodes which adapts to the terrain. The SAR robots are equipped with sensors that detect the presence of humans and will also be equipped with a wide array of other types of sensors. At the base station, the data is processed and combined with geographical information, thus enhancing the situational awareness of the personnel leading the operation with in-situ processed data that can improve decision-making.

Research paper thumbnail of Using visual perception for controlling an outdoor robot in a crisis management scenario

Research paper thumbnail of MRF-Based Foreground Detection in Image Sequences from a Moving Camera

2006 International Conference on Image Processing, 2006

This paper presents a Bayesian approach for simultaneously detecting the moving objects (foregrou... more This paper presents a Bayesian approach for simultaneously detecting the moving objects (foregrounds) and estimating their motion in image sequences taken with a moving camera mounted on the top of a mobile robot.

Research paper thumbnail of The EU-ICARUS project: developing assistive robotic tools for search and rescue operations

IEEE International Workshop on Safety, Security, and Rescue Robotics, 2013

The ICARUS EU-FP7 project deals with the development of a set of integrated components to assist ... more The ICARUS EU-FP7 project deals with the development of a set of integrated components to assist search and rescue teams in dealing with the difficult and dangerous, but lifesaving task of finding human survivors. The ICARUS tools consist of assistive unmanned air, ground and sea vehicles, equipped with victim detection sensors. The unmanned vehicles collaborate as a coordinated team, communicating via ad-hoc cognitive radio networking. To ensure optimal human-robot collaboration, these tools are seamlessly integrated into the C4I (command, control, communications, computers, and intelligence) equipment of the human crisis managers and a set of training and support tools is provided to them to learn to use the ICARUS system.

Research paper thumbnail of Augmented Lagrangian-based approach for dense three-dimensional structure and motion estimation from binocular image sequences

IET Computer Vision, 2014

ABSTRACT

Research paper thumbnail of Partial differential equation-based dense 3D structure and motion estimation from monocular image sequences

IET Computer Vision, 2012

Abstract In this study, the authors propose an approach towards dense depth reconstruction, combi... more Abstract In this study, the authors propose an approach towards dense depth reconstruction, combining robust feature-based structure from motion with the spatial coherence of dense reconstruction algorithms. To achieve this, a variational framework was set up, minimising the epipolar reprojection error and the image brightness constraint, while preserving discontinuities in the depth field by introducing an anisotropic diffusion term. As initial guess for the iterative solver, a region growing algorithm is proposed which mixes sparse and ...

Research paper thumbnail of ICARUS : Providing Unmanned Search and Rescue Tools

Research paper thumbnail of Audio-Visual Signal Processing: Speech and emotion processing for human-machine interaction

Research paper thumbnail of Training and Support system in the Cloud for improving the situational awareness in Search and Rescue (SAR) operations

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014), 2014

In this paper, a Training and Support system for Search and Rescue operations is described. The s... more In this paper, a Training and Support system for Search and Rescue operations is described. The system is a component of the ICARUS project (http://www.fp7-icarus.eu) which has a goal to develop sensor, robotic and communication technologies for Human Search And Rescue teams. The support system for planning and managing complex SAR operations is implemented as a command and control component that integrates different sources of spatial information, such as maps of the affected area, satellite images and sensor data coming from the unmanned robots, in order to provide a situation snapshot to the rescue team who will make the necessary decisions. Support issues will include planning of frequency resources needed for given areas, prediction of coverage conditions, location of fixed communication relays, etc. The training system is developed for the ICARUS operators controlling UGVs (Unmanned Ground Vehicles), UAVs (Unmanned Aerial Vehicles) and USVs (Unmanned Surface Vehicles) from a unified Remote Control Station (RC2). The Training and Support system is implemented in SaaS model (Software as a Service). Therefore, its functionality is available over the Ethernet. SAR ICARUS teams from different countries can be trained simultaneously on a shared virtual stage. In this paper we will show the multi-robot 3D mapping component (aerial vehicle and ground vehicles). We will demonstrate that these 3D maps can be used for Training purpose. Finally we demonstrate current approach for ICARUS Urban SAR (USAR) and Marine SAR (MSAR) operation training.

Research paper thumbnail of Training and Support system in the Cloud for improving the situational awareness in Search and Rescue (SAR) operations

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014), 2014

In this paper, a Training and Support system for Search and Rescue operations is described. The s... more In this paper, a Training and Support system for Search and Rescue operations is described. The system is a component of the ICARUS project (http://www.fp7-icarus.eu) which has a goal to develop sensor, robotic and communication technologies for Human Search And Rescue teams. The support system for planning and managing complex SAR operations is implemented as a command and control component that integrates different sources of spatial information, such as maps of the affected area, satellite images and sensor data coming from the unmanned robots, in order to provide a situation snapshot to the rescue team who will make the necessary decisions. Support issues will include planning of frequency resources needed for given areas, prediction of coverage conditions, location of fixed communication relays, etc. The training system is developed for the ICARUS operators controlling UGVs (Unmanned Ground Vehicles), UAVs (Unmanned Aerial Vehicles) and USVs (Unmanned Surface Vehicles) from a unified Remote Control Station (RC2). The Training and Support system is implemented in SaaS model (Software as a Service). Therefore, its functionality is available over the Ethernet. SAR ICARUS teams from different countries can be trained simultaneously on a shared virtual stage. In this paper we will show the multi-robot 3D mapping component (aerial vehicle and ground vehicles). We will demonstrate that these 3D maps can be used for Training purpose. Finally we demonstrate current approach for ICARUS Urban SAR (USAR) and Marine SAR (MSAR) operation training.

Research paper thumbnail of Training and Support system in the Cloud for improving the situational awareness in Search and Rescue (SAR) operations

In this paper, a Training and Support system for Search and Rescue operations is described. The s... more In this paper, a Training and Support system for Search and Rescue operations is described. The system is a component of the ICARUS project (http://www.fp7-icarus.eu) which has a goal to develop sensor, robotic and communication technologies for Human Search And Rescue teams. The support system for planning and managing complex SAR operations is implemented as a command and control component that integrates different sources of spatial information, such as maps of the affected area, satellite images and sensor data coming from the unmanned robots, in order to provide a situation snapshot to the rescue team who will make the necessary decisions. Support issues will include planning of frequency resources needed for given areas, prediction of coverage conditions, location of fixed communication relays, etc. The training system is developed for the ICARUS operators controlling UGVs (Unmanned Ground Vehicles), UAVs (Unmanned Aerial Vehicles) and USVs (Unmanned Surface Vehicles) from a unified Remote Control Station (RC2). The Training and Support system is implemented in SaaS model (Software as a Service). Therefore, its functionality is available over the Ethernet. SAR ICARUS teams from different countries can be trained simultaneously on a shared virtual stage. In this paper we will show the multi-robot 3D mapping component (aerial vehicle and ground vehicles). We will demonstrate that these 3D maps can be used for Training purpose. Finally we demonstrate current approach for ICARUS Urban SAR (USAR) and Marine SAR (MSAR) operation training.

Research paper thumbnail of Autonomous Guidance for a UAS Along a Staircase

Lecture Notes in Computer Science, 2015

Research paper thumbnail of Icarus Rpas and Their Operational Use in Bosnia

Research paper thumbnail of The EU-ICARUS project: Developing assistive robotic tools for search and rescue operations

2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2013

The ICARUS EU-FP7 project deals with the development of a set of integrated components to assist ... more The ICARUS EU-FP7 project deals with the development of a set of integrated components to assist search and rescue teams in dealing with the difficult and dangerous, but lifesaving task of finding human survivors. The ICARUS tools consist of assistive unmanned air, ground and sea vehicles, equipped with victim detection sensors. The unmanned vehicles collaborate as a coordinated team, communicating via ad-hoc cognitive radio networking. To ensure optimal human-robot collaboration, these tools are seamlessly integrated into the C4I (command, control, communications, computers, and intelligence) equipment of the human crisis managers and a set of training and support tools is provided to them to learn to use the ICARUS system.

Research paper thumbnail of Search and Rescue robots developed by the European ICARUS project

This paper discusses the efforts of the European ICARUS project towards the development of unmann... more This paper discusses the efforts of the European ICARUS project towards the development of unmanned search and rescue (SAR) robots. ICARUS project proposes to equip first responders with a comprehensive and integrated set of remotely operated SAR tools, to increase the situational awareness of human crisis managers. In the event of large crises, a primordial task of the fire and rescue services is the search for human survivors on the incident site, which is a complex and dangerous task. The introduction of remotely operated SAR devices can offer a valuable tool to save human lives and to speed up the SAR process. Therefore, ICARUS concentrates on the development of unmanned SAR technologies for detecting, locating and rescuing humans. The remotely operated SAR devices are foreseen to be the first explorers of the area, along with in-situ supporters to act as safeguards to human personnel. While the ICARUS project also considers the development of marine and aerial robots, this paper will mostly concentrate on the development of the unmanned ground vehicles (UGVs) for SAR. Two main UGV platforms are being developed within the context of the project: a large UGV including a powerful arm for manipulation, which is able to make structural changes in disaster scenarios. The large UGV also serves as a base platform for a small UGV (and possibly also a UAV), which is used for entering small enclosures, while searching for human survivors. In order not to increase the cognitive load of the human crisis managers, the SAR robots will be designed to navigate individually or cooperatively and to follow high-level instructions from the base station, being able to navigate in an autonomous and semi-autonomous manner. The robots connect to the base station and to each other using a wireless self-organizing cognitive network of mobile communication nodes which adapts to the terrain. The SAR robots are equipped with sensors that detect the presence of humans and will also be equipped with a wide array of other types of sensors. At the base station, the data is processed and combined with geographical information, thus enhancing the situational awareness of the personnel leading the operation with in-situ processed data that can improve decision-making.

Research paper thumbnail of Operational RPAS scenarios envisaged for search & rescue by the EU FP7 ICARUS project

The ICARUS EU-FP7 project deals with the development of a set of integrated components to assist ... more The ICARUS EU-FP7 project deals with the development of a set of integrated components to assist search and rescue teams in dealing with the difficult and dangerous, but life-saving task of finding human survivors. The ICARUS tools consist of assistive unmanned air, ground and sea vehicles, equipped with victim detection sensors. The unmanned vehicles collaborate as a coordinated team, communicating via ad hoc cognitive radio networking. To ensure optimal human-robot collaboration, these tools are seamlessly integrated into the C4I equipment of the human crisis managers and a set of training and support tools is provided to them to learn to use the ICARUS system.

Research paper thumbnail of TIRAMISU-ICARUS: FP7-Projects Challenges for Robotics Systems

TIRAMISU: Clearing large civilian areas from anti-personnel landmines and cluster munitions is a ... more TIRAMISU: Clearing large civilian areas from anti-personnel landmines and cluster munitions is a difficult problem because of the large diversity of hazardous areas and explosive contamination. A single solution does not exist and many Mine Action actors have called for a toolbox from which they could choose the tools best fit to a given situation. Some have built their own toolboxes, usually specific to their activities, such as clearance. The TIRAMISU project aims at providing the foundation for a global toolbox that will cover the main Mine Action activities, from the survey of large areas to the actual disposal of explosive hazards, including Mine Risk Education. The toolbox produced by the project will provide Mine Action actors with a large set of tools, grouped into thematic modules, which will help them to better perform their job. These tools will have been designed with the help of end-users and validated by them in mine affected countries.

Research paper thumbnail of Remotely Piloted Aircraft Systems - The Global Perspective - Yearbook 2013/2014

Research paper thumbnail of Audio-Visual Signal Processing: Speech and emotion processing for human-machine interaction

Research paper thumbnail of ICARUS RPAS AND THEIR OPERATIONAL USE IN BOSNIA

Research paper thumbnail of Search and Rescue robots developed by the European ICARUS project

This paper discusses the efforts of the European ICARUS project towards the development of unmann... more This paper discusses the efforts of the European ICARUS project towards the development of unmanned search and rescue (SAR) robots. ICARUS project proposes to equip first responders with a comprehensive and integrated set of remotely operated SAR tools, to increase the situational awareness of human crisis managers. In the event of large crises, a primordial task of the fire and rescue services is the search for human survivors on the incident site, which is a complex and dangerous task. The introduction of remotely operated SAR devices can offer a valuable tool to save human lives and to speed up the SAR process. Therefore, ICARUS concentrates on the development of unmanned SAR technologies for detecting, locating and rescuing humans. The remotely operated SAR devices are foreseen to be the first explorers of the area, along with in-situ supporters to act as safeguards to human personnel. While the ICARUS project also considers the development of marine and aerial robots, this paper will mostly concentrate on the development of the unmanned ground vehicles (UGVs) for SAR. Two main UGV platforms are being developed within the context of the project: a large UGV including a powerful arm for manipulation, which is able to make structural changes in disaster scenarios. The large UGV also serves as a base platform for a small UGV (and possibly also a UAV), which is used for entering small enclosures, while searching for human survivors. In order not to increase the cognitive load of the human crisis managers, the SAR robots will be designed to navigate individually or cooperatively and to follow high-level instructions from the base station, being able to navigate in an autonomous and semi-autonomous manner. The robots connect to the base station and to each other using a wireless self-organizing cognitive network of mobile communication nodes which adapts to the terrain. The SAR robots are equipped with sensors that detect the presence of humans and will also be equipped with a wide array of other types of sensors. At the base station, the data is processed and combined with geographical information, thus enhancing the situational awareness of the personnel leading the operation with in-situ processed data that can improve decision-making.

Research paper thumbnail of Using visual perception for controlling an outdoor robot in a crisis management scenario

Research paper thumbnail of MRF-Based Foreground Detection in Image Sequences from a Moving Camera

2006 International Conference on Image Processing, 2006

This paper presents a Bayesian approach for simultaneously detecting the moving objects (foregrou... more This paper presents a Bayesian approach for simultaneously detecting the moving objects (foregrounds) and estimating their motion in image sequences taken with a moving camera mounted on the top of a mobile robot.

Research paper thumbnail of The EU-ICARUS project: developing assistive robotic tools for search and rescue operations

IEEE International Workshop on Safety, Security, and Rescue Robotics, 2013

The ICARUS EU-FP7 project deals with the development of a set of integrated components to assist ... more The ICARUS EU-FP7 project deals with the development of a set of integrated components to assist search and rescue teams in dealing with the difficult and dangerous, but lifesaving task of finding human survivors. The ICARUS tools consist of assistive unmanned air, ground and sea vehicles, equipped with victim detection sensors. The unmanned vehicles collaborate as a coordinated team, communicating via ad-hoc cognitive radio networking. To ensure optimal human-robot collaboration, these tools are seamlessly integrated into the C4I (command, control, communications, computers, and intelligence) equipment of the human crisis managers and a set of training and support tools is provided to them to learn to use the ICARUS system.

Research paper thumbnail of Augmented Lagrangian-based approach for dense three-dimensional structure and motion estimation from binocular image sequences

IET Computer Vision, 2014

ABSTRACT

Research paper thumbnail of Partial differential equation-based dense 3D structure and motion estimation from monocular image sequences

IET Computer Vision, 2012

Abstract In this study, the authors propose an approach towards dense depth reconstruction, combi... more Abstract In this study, the authors propose an approach towards dense depth reconstruction, combining robust feature-based structure from motion with the spatial coherence of dense reconstruction algorithms. To achieve this, a variational framework was set up, minimising the epipolar reprojection error and the image brightness constraint, while preserving discontinuities in the depth field by introducing an anisotropic diffusion term. As initial guess for the iterative solver, a region growing algorithm is proposed which mixes sparse and ...