Main Topics.

• Monocular SLAM

• Computer Vision. Structure from Motion.

• Monocular endoscopy SLAM

• Non- Rigid visual SLAM

• Simultaneous sensor location and map building

Research Projects.

RoboEarth. Robots Sharing a Knowledge Base for World Modelling and Learning of Actions. European Comision, FP7-ICT-24894. Main Researcher. Clement Gossens. Main Researcher Unizar: J.M.M Montiel

Robust 3D Real Time Vision. Application to Augmented Reality in Endoscopic Surgery.   Spanish Government.  Ministerio Ciencia e Innovación. Programa Nacional de Proyectos de Investigación Fundamental, DPI2009-07130

Recent Publications.

Journals

• Markus Waibel, Michael Beetz, Javier Civera, Raffaello D'Andrea, Jos Elfring, Dorian Gálvez-López, Kai Häussermann, Rob Janssen, J. M. M. Montiel, Alexander Perzylo, Björn Schießle, Moritz Tenorth, Oliver Zweigle and René van de Molengraft. RoboEarth - A World Wide Web for Robots. IEEE Robotics and Automation Magazine, accepted for publication, 2011.

• Javier Civera, Óscar G. Grasa, Andrew J. Davison, and J.M.M. Montiel “1-Point RANSAC for EKF Filtering. Application to Real-Time Structure from Motion and Visual Odometry”. Journal of Field Robotics, accepted for publication, 2010. (Paper_pdf)

• Javier Civera, Andrew J. Davison, Juan A. Magallon and J.M.M. Montiel "Drift-Free Real-Time Sequential Mosaicing" .
  International Journal of Computer Vision.81(2). pp 128-137. Feb 2009  (Paper_pdf) (video)

• Javier Civera, Andrew J. Davison and J.M.M. Montiel " Inverse Depth Parametrization for Monocular SLAM" .
  IEEE Transactions on Robotics Vol 24(5) pp 932-945. October 2008.
  paper_pdf
  video_indoor
  video_outdoor
  video_loop_closing
  video_loop_closing_conversion_from_inverse_depth_to_XYZ

• D. Ortín J.M.M. Montiel, “Indoor Robot Motion Based on Monocular Images”
   Robotica. Vol 19, pp 331-342. 2001. (Abstract)(Paper_Pdf  386Kb)

• Montiel J.M.M., Tardós J.D., Montano L. "Structure and Motion from Straight Line Segments"
  Pattern Recognition. Vol 33-8, pp1295-1307. 2000 (Abstract) (Paper_Pdf)

• Montiel J.M.M, Montano L. "Efficient validation of matching hypotheses using Mahalanobis distance"
  Engineering Applications of Artificial Intelligence. Elsevier Science Ltd., Vol. 11, Number 3, June 1988, pp. 439-448. (Abstract) (Paper_pdf)

• Montiel J.M.M, Montano L. "Probabilistic structure from camera location using straight segments"
  Image Vision Computing. Elsevier, Vol. 17, issue 3-4, March 1999, pp. 263-279. (Abstract) (Paper_pdf)

• J.A. Castellanos, J.M.M. Montiel, J. Neira and J.D. Tardós, "The SPmap: A Probabilistic Framework for Simultaneous Localization and Map Building.", IEEE Transactions on Robotics and Automation, Vol. 15, No. 5, pp. 948 - 953, October 1999 (Abstract)

• J.A. Castellanos, J.M.M. Montiel, J. Neira and J.D. Tardós, "Sensor Influence in the Performance of Simultaneous Mobile Robot Localization and Map Building", Experimental Robotics VI, Peter Corke and James Trevelyan (eds.), Lecture Notes in Control and Information Sciences,  Vol. 250, pp. 287 - 296, Springer Verlag, 2000, ISBN 1-85233-210-7. (Abstract)

Conferences

• A. Agudo, B. Calvo and J.M.M Montiel. Finite Element based Sequential Bayesian Non-Rigid Structure from Motion. IEEE International Conference on Computer Vision and Pattern Recongnition. CVPR 2012. Providence. USA. accepted. (draft)

• Antonio Agudo, Begoña Calvo, J.M.M. Montiel: FEM Models to Code Non-Rigid EKF Monocular SLAM. 1st IEEE Workshop on Dynamic Shape Capture and Analysis. ICCV. 2011. Barcelona. Spain (draft) (Video YouTube) (Video)

• Óscar G. Grasa, Javier Civera, J. M. M. Montiel. EKF Monocular SLAM with Relocalization for Laparoscopic Sequences (draft) (video) 2011 IEEE International Conference on Robotics and Automation (ICRA2011), Shangai (China), 2011.

• Hauke Strasdat, J. M. M. Montiel, Andrew J. Davison: Scale Drift-Aware Large Scale Monocular SLAM , Robotics: Science and Systems, 2010 (draft)

• Hauke Strasdat, J. M. M. Montiel, Andrew J. Davison, Real-time Monocular SLAM: Why Filter?. (draft) 2010 IEEE International Conference on Robotics and Automation (ICRA), Anchorage Alaska. 2010. (Winner, Best Vision Paper Award)

• Javier Civera, Óscar G. Grasa, Andrew J. Davison, J. M. M. Montiel “1-Point RANSAC for EKF-Based Structure from Motion” (draft) (video) 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2009), St. Louis (Missouri, USA), 2009.

• Javier Civera, Diana R. Bueno, Andrew J. Davison, J. M. M. Montiel Camera Self-Calibration for Sequential Bayesian Structure From Motion (draft) (video) 2009 IEEE International Conference on Robotics and Automation (ICRA), Kobe (Japan), 2009.  pp  403 – 408. (Finalist, Best Vision Paper Award)

• Javier Civera, Andrew J. Davison and J. M. M. Montiel Interacting Multiple Model Monocular SLAM  (pdf) (video)
  IEEE International Conference on Robotics and Automation (ICRA), Pasadena, 2008. pp 3704-3709

• Javier Civera, Andrew J. Davison and J. M. M. Montiel Dimensionles Monocular SLAM.
  3rd Iberian Conference on Pattern Recognition and Image Analysis (IbPRIA), Girona, Spain, June 6-8, 2007. pp 412-419. (Paper pdf)

• Javier Civera, Andrew J. Davison and J.M.M. Montiel,: “Inverse Depth to Depth Conversion for Monocular SLAM”. IEEE Int Conf on Robotics and Automation Rome, April 2007.  pp 2778- 2783 (Abstract)(Paper pdf 0.8Mb)

• J.M.M. Montiel, Javier Civera y Andrew J. Davison: “Unified Inverse Depth Parametrization for Monocular SLAM”. Robotics: Science and Systems Conference 2006. (Abstract) (pdf 900Kb).(Indoor demo movie 7Mb).  (Outdoor demo movie 10Mb)

• J.M.M. Montiel y Andrew J. Davison: “A Visual Compass based on SLAM”. IEEE Int Conf on Robotics and Automation Orlando, May 2006. pp1917-1922 (Abstract)(Paper pdf 1.7Mb)

• D. Ortín. J. Neira y J.M.M. Montiel: “Relocation using Laser and Vision”. IEEE Int Conf on Robotics and Automation New Orleans, May 2004. pp1505-1510 (Abstract)(Paper pdf  1.4Mb)

• D. Ortín. J.M.M Montiel y A. Zisserman: “Automated multisensor polyhedral model acquisition”. IEEE Int Conf on Robotics and Automation. Taiwan. May 2003. (Abstract)(Paper pdf  584Kb)

• J.M.M Montiel y A. Zisserman: “Automated architectural acquisition from a camera undergoing planar motion”. International Symposium on Virtual and Augmented Architecture. Dublin Junio 2001. (Paper pdf)

• J.A. Pérez, J.A. Castellanos, J.M.M. Montiel, J. Neira and J.D. Tardós, "Continuous Mobile Robot Localization: Vision vs. Laser", 1999 IEEE Int. Conference on Robotics and Automation, ICRA'99, Detroit, Michigan, USA, 10-15 May 1999, pp. 2917-2923. (Abstract)

• Asensio J.R., Montiel J.M.M., Montano L. "Goal Directed Reactive Robot Navigation with Relocation Using Laser and Vision" IEEE Int. Conf. on Robotics and Automation (ICRA’99), Detroit, USA, May 1999, pp. 2905-2910. (Abstract, Paper_pdf)

• Asensio J.R., Montiel J.M.M., Montano L. " Navigation Among Obstacles by the Cooperation of Trinocular Stereo Vision System and Laser Rangefinder " 3rd IFAC Symp. on Intelligent Autonomous Vehicles, IAV'98, Madrid Spain, March 1998, (Abstract, Paper_pdf)

• Martinez Montiel, J.M Zhang, Z and Montano L. "Segment-Based Structure from an Imprecisely Located Camera" 1996 IEEE Int. Symposium on Computer Vision, ISCV'96. pp182-187 Coral Gables, Florida., USA, 21-23 Nov1996. (abstract), (paper, 300Kb, PostScript compressed)

Last updated: March 2013. JMMM