Pedro

Email: ppinies_at_robots.ox.ac.uk

Pedro’s Google Scholar Page

Pedro joined the Mobile Robotics Group in September 2013 as a postdoctoral research assistant. His research focus is on optimisation, computer vision and variational methods applied to robotics.

Research

Current research topics are:

  • Dense reconstruction using variational methods
  • Dense depthmap and optical flow estimation from monocular and stereo cameras
  • Robust optimisation
  • Image segmentation
Bio

Pedro received his DPhil in 2009 with the Robots, Perception, and Real Time Group at the University of Zaragoza, Spain. His research topic was on wearable sensors for large scale SLAM.  He has been a research visitor at the Royal Institute of Technology (KTH, Stockholm), the Australian Centre for Field Robotics (ACFR, Sydney), the DFKI-Labor Bremen, the Lund University (LTH) and the Graz University of Technology (TU Graz).  You can find information more information about his old research activities here.

 


Applications

Surveying is an important part of our work. Many of our algorithms rely on detailed and accurate surveys of the environment to function. The main survey tools we have at our disposal are the NABU and Wildcat platform. NABU The NABU is the embodiment of everything MRG in a small, ...
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Robots have been used for some time in warehouses and hospitals, moving materials around with speed, accuracy and efficiency, Our work on Autonomous Guided Vehicle technology will improve their capabilities dramatically, enabling robots to do jobs that were previously only considered practical for humans. https://www.youtube.com/watch?v=SpRWAPNBM8I Partners ...
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Research Themes

No posts found.

Large Scale Dense Reconstruction

https://youtu.be/FRmF7mH86EQ

Dense Reconstruction with a Monocular Camera

https://youtu.be/8cMDGfkK9GU

https://youtu.be/pXLdThb78pE

https://youtu.be/L5ea7laofnk

Dense Depth Mapping with Monocular Vision

http://youtu.be/XGShGAsCdYk

Online Road Segmentation

http://youtu.be/7pe_jf1PLXA

MRG publications

2016

  • [PDF] T. Suleymanov, L. M. Paz, P. Piniés, G. Hester, and P. Newman, “The Path Less Taken: A Fast Variational Approach for Scene Segmentation Used for Closed Loop Control,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea, 2016.
    [Bibtex]

    @inproceedings{SuleymanovIROS2016,
    Address = {Daejeon, South Korea},
    Author = {Suleymanov, Tarlan and Paz, Lina Maria and Pini{\'e}s, Pedro and Hester, Geoff and Newman, Paul},
    Title = "{The Path Less Taken: A Fast Variational Approach for Scene Segmentation Used for Closed Loop Control}",
    Booktitle = {{IEEE/RSJ} International Conference on Intelligent Robots and Systems (IROS)},
    Year = 2016,
    Month = October,
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/IROS2016Tarlan_PathFollowing.pdf}
    }

  • [PDF] L. M. Paz, T. Suleymanov, P. Piniés, G. Hester, and P. Newman, “On-line Scene Understanding for Closed Loop Control,” in Robotics: Science and Systems, Workshop on Geometry and Beyond: Representations, Physics, and Scene Understanding for Robotics, 2016.
    [Bibtex]

    @inproceedings{PazRSS2016,
    Author = {Paz, Lina Maria and Suleymanov, Tarlan and Pini{\'e}s, Pedro and Hester, Geoff and Newman, Paul},
    Title = "{On-line Scene Understanding for Closed Loop Control}",
    Booktitle = {Robotics: Science and Systems, Workshop on Geometry and Beyond: Representations, Physics, and Scene Understanding for Robotics},
    Year = 2016,
    Month = June,
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2016RSS_Paz.pdf}
    }

  • [PDF] M. Tanner, P. Piniés, L. M. Paz, and P. Newman, “Keep Geometry in Context: Using Contextual Priors for Very-Large-Scale 3D Dense Reconstructions,” in Robotics: Science and Systems, Workshop on Geometry and Beyond: Representations, Physics, and Scene Understanding for Robotics, 2016.
    [Bibtex]

    @inproceedings{TannerRSS2016,
    Author = {Tanner, Michael and Pini{\'e}s, Pedro and Paz, Lina Maria and Newman, Paul},
    Title = "{Keep Geometry in Context: Using Contextual Priors for Very-Large-Scale 3D Dense Reconstructions}",
    Booktitle = {Robotics: Science and Systems, Workshop on Geometry and Beyond: Representations, Physics, and Scene Understanding for Robotics},
    Year = 2016,
    Month = June,
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/RSS2016_Tanner.v3.camera_ready.pdf}
    }

  • [PDF] M. Tanner, P. Piniés, L. M. Paz, and P. Newman, “DENSER Cities: A System for Dense Efficient Reconstructions of Cities,” ArXiv e-prints, 2016.
    [Bibtex]

    @article{TannerArXiv2016,
    Author = {Tanner, Michael and Pini{\'e}s, Pedro and Paz, Lina Maria and Newman, Paul},
    Title = "{DENSER Cities: A System for Dense Efficient Reconstructions of Cities}",
    Journal = {ArXiv e-prints},
    ArchivePrefix = "arXiv",
    Eprint = {1604.03734},
    PrimaryClass = "cs.CV",
    Keywords = {Computer Science - Computer Vision and Pattern Recognition, Computer Science - Robotics},
    Year = 2016,
    Month = apr,
    Adsurl = {http://adsabs.harvard.edu/abs/2016arXiv160403734T},
    Adsnote = {Provided by the SAO/NASA Astrophysics Data System},
    Pdf = {http://arxiv.org/pdf/1604.03734v1.pdf}}

  • [PDF] P. Amayo, P. Piniés, L. M. Paz, and P. Newman, “A Unified Representation for Application of Architectural Constraints in Large-Scale Mapping,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 2016.
    [Bibtex]

    @inproceedings{AmayoICRA2016,
    Address = {Stockholm, Sweden},
    Author = {Amayo, Paul and Pini{\'e}s, Pedro and Paz, Lina Maria and Newman, Paul},
    Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
    Month = {May},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/ICRA2016_amayo.pdf},
    Title = {A Unified Representation for Application of Architectural Constraints in Large-Scale Mapping},
    Year = {2016}}

  • [PDF] T. Scott, A. A. Morye, P. Piniés, L. M. Paz, I. Posner, and P. Newman, “Choosing a Time and Place for Calibration of Lidar-Camera Systems,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 2016.
    [Bibtex]

    @inproceedings{ScottICRA2016,
    Address = {Stockholm, Sweden},
    Author = {Scott, Terry and Morye, Akshay A. and Pini{\'e}s, Pedro and Paz, Lina M. and Posner, Ingmar and Newman, Paul},
    Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
    Month = {May},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/ICRA2016_scott.pdf},
    Title = {Choosing a Time and Place for Calibration of Lidar-Camera Systems},
    Year = {2016}}

  • [PDF] M. Tanner, P. Piniés, L. M. Paz, and P. Newman, “What Lies Behind: Recovering Hidden Shape in Dense Mapping,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 2016.
    [Bibtex]

    @inproceedings{TannerICRA2016,
    Address = {Stockholm, Sweden},
    Author = {Tanner, Michael and Pini{\'e}s, Pedro and Paz, Lina Maria and Newman, Paul},
    Booktitle = {{P}roceedings of the {IEEE} {I}nternational {C}onference on {R}obotics and {A}utomation ({ICRA})},
    Month = {May},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/ICRA2016BORG2_Tanner.v6.camera_ready.pdf},
    Title = {{W}hat {L}ies {B}ehind: {R}ecovering {H}idden {S}hape in {D}ense {M}apping},
    Year = {2016}}

2015

  • [PDF] T. Scott, A. A. Morye, P. Piniés, L. M. Paz, I. Posner, and P. Newman, “Exploiting Known Unknowns: Scene Induced Cross-Calibration of Lidar-Stereo Systems,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, 2015.
    [Bibtex]

    @inproceedings{ScottIROS2015,
    Address = {Hamburg, Germany},
    Author = {Scott, Terry and Morye, Akshay A. and Pini{\'e}s, Pedro and Paz, Lina M. and Posner, Ingmar and Newman, Paul},
    Booktitle = {{IEEE/RSJ} International Conference on Intelligent Robots and Systems (IROS)},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2015IROS_scott.pdf},
    Title = {{E}xploiting {K}nown {U}nknowns: {S}cene {I}nduced {C}ross-{C}alibration of {L}idar-{S}tereo {S}ystems},
    Year = {2015}}

  • [PDF] P. Piniés, L. M. Paz, and P. Newman, “Dense and Swift Mapping with Monocular Vision,” in International Conference on Field and Service Robotics (FSR), Toronto, ON, Canada, 2015.
    [Bibtex]

    @inproceedings{PiniesFSR2015,
    Address = {Toronto, ON, Canada},
    Author = {Pini{\'e}s, Pedro and Paz, Lina Maria and Newman, Paul},
    Booktitle = {{I}nternational {C}onference on {F}ield and {S}ervice {R}obotics ({FSR})},
    Month = {June},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2015FSR_DenseSwiftMapping_PiniesPaz.pdf},
    Title = {{D}ense and {S}wift {M}apping with {M}onocular {V}ision},
    Year = {2015}}

  • [PDF] M. Tanner, P. Piniés, L. M. Paz, and P. Newman, “BOR2G: Building Optimal Regularised Reconstructions with GPUs (in cubes),” in International Conference on Field and Service Robotics (FSR), Toronto, ON, Canada, 2015.
    [Bibtex]

    @inproceedings{TannerFSR2015,
    Address = {Toronto, ON, Canada},
    Author = {Tanner, Michael and Pini{\'e}s, Pedro and Paz, Lina Maria and Newman, Paul},
    Booktitle = {{I}nternational {C}onference on {F}ield and {S}ervice {R}obotics ({FSR})},
    Month = {June},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/FSR2015BORG_Tanner.v2.final_publication.pdf},
    Title = {{BOR2G}: {B}uilding {O}ptimal {R}egularised {R}econstructions with {GPU}s (in cubes)},
    Year = {2015}}

  • [PDF] P. Piniés, L. M. Paz, and P. Newman, “Dense Mono Reconstruction: Living with the Pain of the Plain Plane,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA, 2015.
    [Bibtex]

    @inproceedings{PiniesBICRA2015,
    Address = {Seattle, WA, USA},
    Author = {Pini{\'e}s, Pedro and Paz, Lina Maria and Newman, Paul},
    Booktitle = {{P}roceedings of the {IEEE} {I}nternational {C}onference on {R}obotics and {A}utomation ({ICRA})},
    Month = {May},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2015ICRA_NonLocalTGV_Pinies.pdf},
    Title = {Dense {M}ono {R}econstruction: {L}iving with the {P}ain of the {P}lain {P}lane},
    Year = {2015}}

  • [PDF] P. Piniés, L. M. Paz, and P. Newman, “Too Much TV is Bad: Dense Reconstruction from Sparse Laser with Non-convex Regularisation,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA, 2015.
    [Bibtex]

    @inproceedings{PiniesAICRA2015,
    Address = {Seattle, WA, USA},
    Author = {Pini{\'e}s, Pedro and Paz, Lina Maria and Newman, Paul},
    Booktitle = {{P}roceedings of the {IEEE} {I}nternational {C}onference on {R}obotics and {A}utomation ({ICRA})},
    Month = {May},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2015ICRA_TooMuchTVisBad_PiniesPaz.pdf},
    Title = {Too {M}uch {TV} is {B}ad: {D}ense {R}econstruction from {S}parse {L}aser with {N}on-convex {R}egularisation},
    Year = {2015}}

  • [PDF] L. M. Paz, P. Piniés, and P. Newman, “A Variational Approach to Online Road and Path Segmentation with Monocular Vision,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA, 2015.
    [Bibtex]

    @inproceedings{PazICRA2015,
    Address = {Seattle, WA, USA},
    Author = {Paz, Lina Maria and Pini{\'e}s, Pedro and Newman, Paul},
    Booktitle = {{P}roceedings of the {IEEE} {I}nternational {C}onference on {R}obotics and {A}utomation ({ICRA})},
    Month = {May},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2015ICRA_RoadSegmentation_Paz.pdf},
    Title = {{A} {V}ariational {A}pproach to {O}nline {R}oad and {P}ath {S}egmentation with {M}onocular {V}ision},
    Year = {2015}}

  • [PDF] H. Grimmett, M. Buerki, L. Paz, P. Piniés, P. Furgale, I. Posner, and P. Newman, “Integrating Metric and Semantic Maps for Vision-Only Automated Parking,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA, 2015.
    [Bibtex]

    @inproceedings{GrimmettICRA2015,
    Address = {Seattle, WA, USA},
    Author = {Grimmett, Hugo and Buerki, Mathias and Paz, Lina and Pini{\'e}s, Pedro and Furgale, Paul and Posner, Ingmar and Newman, Paul},
    Booktitle = {{P}roceedings of the {IEEE} {I}nternational {C}onference on {R}obotics and {A}utomation ({ICRA})},
    Month = {May},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2015ICRA_Grimmett.pdf},
    Title = {{I}ntegrating {M}etric and {S}emantic {M}aps for {V}ision-{O}nly {A}utomated {P}arking},
    Year = {2015}}

Past publications

2013

  • M. T. Lazaro, L. M. Paz, P. Piniés, J. A. Castellanos, and G. Grisetti, “Multi-robot SLAM using condensed measurements,” in Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, 2013, pp. 1069-1076.
    [Bibtex]

    @inproceedings{lazaro2013multi,
    Author = {Lazaro, Maria Teresa and Paz, Lina Mar{\'\i}a and Pini{\'e}s, Pedro and Castellanos, Jos{\'e} A and Grisetti, G},
    Booktitle = {Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on},
    Organization = {IEEE},
    Pages = {1069--1076},
    Title = {Multi-robot SLAM using condensed measurements},
    Year = {2013}}

  • M. T. Lázaro, L. M. Paz, P. Piniés, and J. A. Castellanos, “Distributed Localization and Submapping for Robot Formations using a prior map,” in Intelligent Autonomous Vehicles, 2013, pp. 138-145.
    [Bibtex]

    @inproceedings{lazaro2013distributed,
    Author = {L{\'a}zaro, Maria Teresa and Paz, Lina Maria and Pini{\'e}s, Pedro and Castellanos, Jos{\'e} A},
    Booktitle = {Intelligent Autonomous Vehicles},
    Number = {1},
    Pages = {138--145},
    Title = {Distributed Localization and Submapping for Robot Formations using a prior map},
    Volume = {8},
    Year = {2013}}

  • J. Casafranca, L. M. Paz, and P. Piniés, “A back-end L1 norm based solution for factor graph SLAM,” in Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, 2013, pp. 17-23.
    [Bibtex]

    @inproceedings{casafranca2013back,
    Author = {Casafranca, JJ and Paz, Lina Mar{\'\i}a and Pini{\'e}s, Pedro},
    Booktitle = {Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on},
    Organization = {IEEE},
    Pages = {17--23},
    Title = {A back-end L1 norm based solution for factor graph SLAM},
    Year = {2013}}

2012

  • P. Piniés, L. M. Paz, S. Haner, and A. Heyden, “Decomposable Bundle Adjustment using a junction tree,” in Robotics and Automation (ICRA), 2012 IEEE International Conference on, 2012, pp. 1246-1253.
    [Bibtex]

    @inproceedings{pinies2012decomposable,
    Author = {Pini{\'e}s, Pedro and Paz, Lina Mar{\'\i}a and Haner, Sebastian and Heyden, Anders},
    Booktitle = {Robotics and Automation (ICRA), 2012 IEEE International Conference on},
    Organization = {IEEE},
    Pages = {1246--1253},
    Title = {Decomposable Bundle Adjustment using a junction tree},
    Year = {2012}}

  • A. Diaz, E. Caicedo, L. Paz, and P. Piniés, “A Real Time 6DOF Visual SLAM System Using a Monocular Camera,” in Robotics Symposium and Latin American Robotics Symposium (SBR-LARS), 2012 Brazilian, 2012, pp. 45-50.
    [Bibtex]

    @inproceedings{diaz2012real,
    Author = {Diaz, Andres and Caicedo, Eduardo and Paz, Lina and Pini{\'e}s, Pedro},
    Booktitle = {Robotics Symposium and Latin American Robotics Symposium (SBR-LARS), 2012 Brazilian},
    Organization = {IEEE},
    Pages = {45--50},
    Title = {A Real Time 6DOF Visual SLAM System Using a Monocular Camera},
    Year = {2012}}

2010

  • P. Piniés, L. M. Paz, D. Gálvez López, and J. D. Tardós, “CI-Graph simultaneous localization and mapping for three-dimensional reconstruction of large and complex environments using a multicamera system,” Journal of Field Robotics, vol. 27, iss. 5, pp. 561-586, 2010.
    [Bibtex]

    @article{pinies2010ci,
    Author = {Pini{\'e}s, Pedro and Paz, Lina Mar{\'\i}a and G{\'a}lvez L{\'o}pez, Dorian and Tard{\'o}s, Juan D},
    Journal = {Journal of Field Robotics},
    Number = {5},
    Pages = {561--586},
    Publisher = {Wiley Online Library},
    Title = {CI-Graph simultaneous localization and mapping for three-dimensional reconstruction of large and complex environments using a multicamera system},
    Volume = {27},
    Year = {2010}}

2009

  • P. Piniés, L. M. Paz, and J. D. Tardós, “CI-Graph: An efficient approach for large scale SLAM,” in Robotics and Automation, 2009. ICRA’09. IEEE International Conference on, 2009, pp. 3913-3920.
    [Bibtex]

    @inproceedings{pinies2009ci,
    Author = {Pini{\'e}s, Pedro and Paz, Lina M and Tard{\'o}s, Juan D},
    Booktitle = {Robotics and Automation, 2009. ICRA'09. IEEE International Conference on},
    Organization = {IEEE},
    Pages = {3913--3920},
    Title = {CI-Graph: An efficient approach for large scale SLAM},
    Year = {2009}}

2008

  • L. M. Paz, P. Piniés, J. D. Tardós, and J. Neira, “Large-scale 6-DOF SLAM with stereo-in-hand,” Robotics, IEEE Transactions on, vol. 24, iss. 5, pp. 946-957, 2008.
    [Bibtex]

    @article{paz2008large,
    Author = {Paz, Lina M and Pini{\'e}s, Pedro and Tard{\'o}s, Juan D and Neira, Jos{\'e}},
    Journal = {Robotics, IEEE Transactions on},
    Number = {5},
    Pages = {946--957},
    Publisher = {IEEE},
    Title = {Large-scale 6-DOF SLAM with stereo-in-hand},
    Volume = {24},
    Year = {2008}}

  • P. Piniés and J. D. Tardós, “Large-scale slam building conditionally independent local maps: Application to monocular vision,” Robotics, IEEE Transactions on, vol. 24, iss. 5, pp. 1094-1106, 2008.
    [Bibtex]

    @article{pinies2008large,
    Author = {Pini{\'e}s, Pedro and Tard{\'o}s, Juan D},
    Journal = {Robotics, IEEE Transactions on},
    Number = {5},
    Pages = {1094--1106},
    Publisher = {IEEE},
    Title = {Large-scale slam building conditionally independent local maps: Application to monocular vision},
    Volume = {24},
    Year = {2008}}

2007

  • P. Piniés and J. D. Tardós, “Scalable SLAM building conditionally independent local maps,” in Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on, 2007, pp. 3466-3471.
    [Bibtex]

    @inproceedings{pinies2007scalable,
    Author = {Pini{\'e}s, Pedro and Tard{\'o}s, Juan D},
    Booktitle = {Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on},
    Organization = {IEEE},
    Pages = {3466--3471},
    Title = {Scalable SLAM building conditionally independent local maps},
    Year = {2007}}

  • P. Piniés, T. Lupton, S. Sukkarieh, and J. D. Tardós, “Inertial aiding of inverse depth SLAM using a monocular camera,” in Robotics and Automation, 2007 IEEE International Conference on, 2007, pp. 2797-2802.
    [Bibtex]

    @inproceedings{pinies2007inertial,
    Author = {Pini{\'e}s, Pedro and Lupton, Todd and Sukkarieh, Salah and Tard{\'o}s, Juan D},
    Booktitle = {Robotics and Automation, 2007 IEEE International Conference on},
    Organization = {IEEE},
    Pages = {2797--2802},
    Title = {Inertial aiding of inverse depth SLAM using a monocular camera},
    Year = {2007}}

2006

  • P. Piniés and J. D. Tardós, “Fast localization of avalanche victims using sum of gaussians,” in Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on, 2006, pp. 3989-3994.
    [Bibtex]

    @inproceedings{pinies2006fast,
    Author = {Pini{\'e}s, Pedro and Tard{\'o}s, Juan D},
    Booktitle = {Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on},
    Organization = {IEEE},
    Pages = {3989--3994},
    Title = {Fast localization of avalanche victims using sum of gaussians},
    Year = {2006}}

  • P. Piniés, J. D. Tardós, and J. Neira, “Localization of avalanche victims using robocentric SLAM,” in Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on, 2006, pp. 3074-3079.
    [Bibtex]

    @inproceedings{pinies2006localization,
    Author = {Pini{\'e}s, Pedro and Tard{\'o}s, Juan D and Neira, Jos{\'e}},
    Booktitle = {Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on},
    Organization = {IEEE},
    Pages = {3074--3079},
    Title = {Localization of avalanche victims using robocentric SLAM},
    Year = {2006}}

2005

  • L. M. Paz, P. Piniés, J. Neira, and J. D. Tardós, “Global localization in slam in bilinear time,” in Intelligent Robots and Systems, 2005.(IROS 2005). 2005 IEEE/RSJ International Conference on, 2005, pp. 2820-2826.
    [Bibtex]

    @inproceedings{paz2005global,
    Author = {Paz, Lina M and Pini{\'e}s, Pedro and Neira, Jos{\'e} and Tard{\'o}s, Juan D},
    Booktitle = {Intelligent Robots and Systems, 2005.(IROS 2005). 2005 IEEE/RSJ International Conference on},
    Organization = {IEEE},
    Pages = {2820--2826},
    Title = {Global localization in slam in bilinear time},
    Year = {2005}}