Julio Vega's home page

2011.12.07. Parallelograms attention system
2011.12.05. Recognizing parallelograms
2011.11.25. Long term memory
2011.11.23. Geometric model includes Pan & Tilt movements
2011.11.10. Corridor reconstruction
2011.11.22. Short term memory
2011.10.20. Visual memory on movement
2011.10.11. 3D segments reconstruction with Solis Algorithm
2011.10.06. New Visual Memory GUI
2011.09.12. Solis Algorithm
2011.05.26. New GUI with several windows
2011.05.18. New 3D segments reconstruction with JDE-5.0 implementation
2011.05.11. Instant 3D segments
2011.03.17. 3D department with drip effect
2011.03.14. Follow-line
2011.03.14. New 3D department building
2011.03.14. Jarama circuit
2011.03.11. Introrob class diagram
2011.02.24. Running new Introrob
2011.02.16. New IntrorobGUI

2011.12.07. Parallelograms attention system

Parallelograms guides the attention system. We can see a blue cross on the floor, which symbolize where the camera is pointing. It has to match with the parallelogram center where camera is pointing to.

Sometimes, the robot attention system generates a random focus-point in order to explore all scene around itself.

2011.12.05. Recognizing parallelograms

Now, system is able to hypothesize parallelograms. It just needs to get three points which are forming a parallelogram shape.

2011.11.25. Long term memory

In these experiments, the robot goes around the corridor of our building and it does a complete lap.

2011.11.23. Geometric model includes Pan & Tilt movements

Now we have included pan & tilt movements to the geometric model.

2011.11.10. Corridor reconstruction

2011.11.22. Short term memory

Here we can see how our system is able to recognize segments from scene around robot.

2011.10.20. Visual memory on movement

2011.10.11. 3D segments reconstruction with Solis Algorithm

We recognize 2D segments on the 2D image with Solis Algorithm and then, they're back-projected over floor (ground hypothesis). We can see in this image result is plausible.

2011.10.06. New Visual Memory GUI

Here we can see the new GUI.

2011.09.12. Solis Algorithm

We can see the 2D segmentation algorithm based on a Solis' paper. It's work fine, much better than Canny+Hough Transform process.

2011.05.26. New GUI with several windows

On this video, we show the new functionality. Our schema includes three windows: main, opengl and navigation controller.

2011.05.18. New 3D segments reconstruction with JDE-5.0 implementation

We start to implement our visual memory under Jde-5.0 implementation. Now, our algorithm is inside an Ice component, codified in C++ language.

We're using Gazebo 0.9 as a robotics simulator and a Pioneer 2DX as a robot platform, with two Sony PTZ simulated cameras.

In this first step, we try to recognize 2D segments on the 2D image and then, they're back-projected over floor (ground hypothesis). Our algorithm uses Canny as a border filter and Hough Transform as a segment filter. We can see in this image result is not plausible.