Pose-Graph Optimization (PGO) is a well-known problem in the Robotics community. Optimizing a graph means finding the configuration of the nodes that best satisfies the edges. This is generally achieved using iterative approaches that refine a current solution until convergence. Nowadays, Iterative...
01a Articolo in rivista
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Nowadays, Nonlinear Least-Squares embodies the foundation of many Robotics and Computer Vision systems. The research community deeply investigated this topic in the last few years, and this resulted in the development of several open-source solvers to approach constantly increasing classes of...
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Registering models is an essential building block of many robotic applications. In case of three-dimensional data, the models to be aligned usually consist of point clouds. In this letter, we propose a formalism to represent in a uniform manner scenes consisting of high-level geometric primitives,...
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In this letter, we propose a pose-landmark graph optimization back-end that supports maps consisting of points, lines, or planes. Our back-end allows representing both homogeneous ( point–point , line–line , plane–plane ) and heterogeneous measurements ( point-on-line , point-on-plane , line-on-...
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The ability to maintain and continuously update geometric calibration parameters of a mobile platform is a key functionality for every robotic system. These parameters include the intrinsic kinematic parameters of the platform, the extrinsic parameters of the sensors mounted on it, and their time...
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As social robots become more prominent in our lives, their interaction with humans takes an increasing role, and new collaborative scenarios emerge. This development brings the need to realize robust test methods enabling the design and evaluation of HRI teaming tasks to prove functionality and...
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Obesity is a chronic multifactorial pathology determined by many factors, including incorrect eating habits and a low level of physical activity. There is an urgent need to promote a persistent change in lifestyle in obese subjects, but very few individuals maintain long-term results achieved after...
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Human–robot interactions require the ability of the system to determine if the user is paying attention. However, to train such systems, massive amounts of data are required. In this study, we addressed the issue of data scarcity by constructing a large dataset (containing ~120,000 photographs) for...
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Novel technology has been applied to improve students’ learning abilities in different disciplines. The research in this field is still finding suitable methodologies, tools, and evaluation mechanisms to devise learning frameworks with high impact on students’ performance. This article describes an...
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Abstract Purpose The purpose of this paper is to address the issue of knowledge visualization and its connection with performance measurement from an epistemological point of view, considering quantification and measurement not just as technical questions but showing their relevant implications on...