Large scale SLAM with visual features

Comunicación presentada en el X Workshop of Physical Agents, Cáceres, 10-11 septiembre 2009.

A study of 2D features for 3D visual SLAM

Paper submitted to the 43rd International Symposium on Robotics (ISR), Taipei, Taiwan, August 29-31, 2012.

Hand gesture recognition based on morphologic features

Comunicación presentada en el IX Simposium Nacional de Reconocimiento de Formas y Análisis de Imágenes, Benicàssim, Mayo, 2001.

Event-based visual servoing with features’ prediction

Event-based visual servoing is a recently presented approach that performs the positioning of a robot using visual information only when it is required. From the basis of the classical image-based visual servoing control law, the scheme proposed in this paper can reduce the processing time at each loop iteration in some specific conditions. The proposed control method enters in action when an event deactivates the classical image-based controller (i.e. when there is no image available to perform the tracking of the visual features). A virtual camera is then moved through a straight line path towards the desired position. The virtual path used to guide the robot improves the behavior of the previous event-based visual servoing proposal.

The role of statistical and semantic features in single-document extractive summarization

This paper reports on the further results of the ongoing research analyzing the impact of a range of commonly used statistical and semantic features in the context of extractive text summarization. The features experimented with include word frequency, inverse sentence and term frequencies, stopwords filtering, word senses, resolved anaphora and textual entailment. The obtained results demonstrate the relative importance of each feature and the limitations of the tools available. It has been shown that the inverse sentence frequency combined with the term frequency yields almost the same results as the latter combined with stopwords filtering that in its turn proved to be a highly competitive baseline. To improve the suboptimal results of anaphora resolution, the system was extended with the second anaphora resolution module. The present paper also describes the first attempts of the internal document data representation.