Main Topics.

• Monocular SLAM

• Computer Vision. Structure from Motion.

• Monocular endoscopy SLAM

• Non- Rigid visual SLAM

Research Projects.

• Bin-picking for industrial manipulator. Ministerio de Economía y Competitividad. Programa INNPACTO (IPT-2012-0143-020000). Proyecto conjunto Universidad de Zaragoza-Infaimon SL.

• SVMap Visual Mapping for Rigid and Non-Rigid Scenes. Ministerio de Economía y Competitividad. Programa Nacional de I+D+i. Proyecto de Investigación Fundamental no orientada. (DPI2012-32168).

Finished grants

• 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

• E. Bernal, S. Casado, O. G. Grasa, J.M.M. Montiel,  I. Gil Visual SLAM-Assisted Laparoscopic Ventral Hernia Repair.
  Surgical Endoscopy. 28 (12), 3506-3512. 2014.
  draft video1 video2

• O. Garcia-Grasa, E. Bernal, S. Casado, I. Gil y J.M.M. Montiel. Visual SLAM for Hand-Held Monocular Endoscope .
  IEEE Transactions on Medical Imaging. 33 (1), January 2014, pp 135 – 146. 2014.
  draft video1

• Riazuelo, L and Civera, Javier and Montiel, JMM C2TAM: A Cloud Framework for Cooperative Tracking and Mapping.
  Robotics and Autonomous Systems. 62 (4), April 2014, pp 401–413. 2014.

• H Strasdat, JMM Montiel, AJ Davison. Visual SLAM: why filter?Image and Vision Computing 30 (2), 65-77.

• 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
  inverseDepth_loopClosing.avi
  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. (Paper_Pdf)

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

• 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.

Conferences

• Antonio Agudo, J. M. M. Montiel, Lourdes Agapito and Begoña Calvo Online Dense Non-Rigid 3D Shape and Camera Motion Recovery.British Machine Vision Conference (BMVC), Nottingham (United Kingdom), 2014. (Poster) (draft) (video)

• Antonio Agudo, Lourdes Agapito, Begoña Calvo and J. M. M. Montiel . Good Vibrations: A Modal Analysis Approach for Sequential Non-Rigid Structure from Motion IEEE International Conference on Computer Vision and Pattern Recognition (CVPR), Columbus (Ohio, USA), 2014. (Poster) (draft) (video)

• 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. (draft) (silicone) (PaperBending) (FlagPaper)

• A. Agudo, B. Calvo and J. M. M. Montiel 3D Reconstruction of Non-Rigid Surfaces in Real-Time using Wedge Elements5th Workshop on Non-Rigid Shape Analysis and Deformable Image Alignment NORDIA (ECCV 2012), Florence (Italy), 2012. (draf) (realTimeVideo) (video1)

• 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 2011 IEEE International Conference on Robotics and Automation (ICRA2011), Shangai (China), 2011. (draft) (video)

• 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?.2010 IEEE International Conference on Robotics and Automation (ICRA), Anchorage Alaska. 2010. (Winner, Best Vision Paper Award) (draft)

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

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

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

• Javier Civera, Andrew J. Davison and J. M. M. Montiel Dimensionless 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 (Paper_pdf)

• J.M.M. Montiel, Javier Civera y Andrew J. Davison: “Unified Inverse Depth Parametrization for Monocular SLAM”. Robotics: Science and Systems Conference 2006. (pdf).(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 (Paper pdf )

• 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. (Paper_pdf )

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

• 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.

• 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. (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, (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. (Paper_pdf)

Last updated: Dec 2014. JMMM