Papers by Svetlana Larionova
Tese de doutoramento em Engenharia Electrotecnica (Instrumentacao e Controlo) apresentada a Facul... more Tese de doutoramento em Engenharia Electrotecnica (Instrumentacao e Controlo) apresentada a Faculdade de Ciencias e Tecnologia da Universidade de Coimbra
2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)
... October 2,2004, Sendal, Japan Toward Practical Implementation of Sensor Fusion for a Demining... more ... October 2,2004, Sendal, Japan Toward Practical Implementation of Sensor Fusion for a Demining Robot Svetlana Larionova, Lino Marques and AT de Almeida Institute of Systems and Robotics University of Coimbra Coimbra, Portugal Email {sveta, lino, adealmeida) @isr.uc.pt ...
Climbing and Walking Robots, 2005
ABSTRACT
Proceedings of the 2005 Ieee International Conference on Robotics and Automation, 2005
Page 1. Features Selection for Sensor Fusion in a Demining Robot Svetlana Larionova, Lino Marques... more Page 1. Features Selection for Sensor Fusion in a Demining Robot Svetlana Larionova, Lino Marques and Anibal T. de Almeida Institute of Systems and Robotics University of Coimbra Polo II, 3030-290 Coimbra, Portugal {sveta,lino,adealmeida}@isr.uc.pt ...
2006 Ieee Rsj International Conference on Intelligent Robots and Systems, 2006
This paper proposes a multi-stage approach for landmine detection. It is based on a feature-level... more This paper proposes a multi-stage approach for landmine detection. It is based on a feature-level data fusion which combines data from several nonspecific sensors. The sensor fusion process is analysed and divided in three stages in order to improve the final result. During the first stage all suspected objects are detected against a background. Then, the detected objects are classified to be a man-made or natural object. And, finally, the landmines are distinguished among the identified manmade objects. The last two stages are described in detail in this paper, demonstrating the advantages for their separation. Classification features, which enable the sensor fusion, are also presented in this work together with an approach for their integration. The proposed ideas are tested using real experimental data obtained from pulsed and continuous metal detectors, infra-red camera and ground penetrating radar.
2006 Ieee Rsj International Conference on Intelligent Robots and Systems, Oct 1, 2006
To enable automated landmine detection a number of practical problems must be overcome. One of th... more To enable automated landmine detection a number of practical problems must be overcome. One of them is the mapping of data from landmine detection sensors using a mobile demining robot in an unstructured outdoor environment. The odometry of the robot used for mapping can be improved by using an additional vision system. It is proposed in this paper to utilize natural landmarks which can be found on the ground for this purpose. New simple algorithms for detection and association of natural landmarks are developed and described. Finally, the experimental results of applying these algorithms on a set of images obtained from a camera mounted on the robot are presented. The results show their robustness for different environmental conditions and robot motions.
2006 IEEE Conference on Emerging Technologies and Factory Automation, 2006
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Papers by Svetlana Larionova