Friday, September 6, 2013

I am a published scientist.

This post is to celebrate the publication of my first scientific paper. After a year of hard work it's out there, on the loose. A tiny contribution to the vast corpus of human knowledge. I must admit it's really satisfying. Minus one on the bucket list.

In a few words, the goal was to build a real-time system for human detection in order to be used on board a medium sized mobile robot, the Summit XL(c) by Robotnik(c).
Summit XL
Summit XL(c)
The task was accomplished by using two sensors: a Hokuyo UTM-30LX-EW(c) and a PointGrey Firefly MV(c) camera. The information from the two sensors was synchronously fused in order to produce greater accuracy. The technical details can be seen on the paper which was published on the  Sensors journal. It has an open access policy which is very important for the dissemination of knowledge, but that's another discussion.

The system was initially prototyped with Matlab(c) and Python. The real-time version was later developed in C++ using the Robot Operating System and OpenCV libraries. The source code has been released on github and there are plans to create an official ROS package of our group in UPM. Speaking of which I am really happy to have worked with colleagues such as Mario, Antonio, AndrĂ©s and Pablo here.

Some of the results can be seen in the following video:

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