Research

Theses

• • PhD Thesis: "Global pose estimation and tracking for RGB-D localization and 3D Mapping". University of Nice Sophia Antipolis. Supervised by Dr. Andrew I. Comport. [Manuscript][Project]

  • Master thesis: "Odometry of a Crawler robotic platform". University of Guanajuato (2013). Supervised by Dr. Andrew I. Comport & Dr. Juan Gabriel Aviña Cervantes. [Manuscript (SPA)][Project]

  • Bachelor thesis: ¨Odometry of a threaded tank robot". University of Guanajuato. Supervised by Dr. Juan Gabriel Aviña Cervantes. [Manuscript (SPA)][Project]

Publications

• • "WeCo-SLAM: Wearable Cooperative SLAM System for Real-time Indoor Localization Under Challenging Conditions". IEEE Journal of Sensors. 2021. [PDF][Project]

  • "Real-Time Multi-SLAM System for Agent Localization and 3D Mapping in Dynamic Scenarios". IROS 2020. [PDF]

  • "Indoor Localization and Mapping: Towards Tracking Resilience Through a Multi-SLAM Approach". MED 2020. [PDF]

  • "Point to hyperplane ICP: fusing different metric measurements for pose estimation". Advanced Robotics Journal 2018. [PDF]

  • "Global Point-to-hyperplane ICP: Local and Global Pose Estimation by Fusing Color and Depth". MFI 2017, [PDF]

  • "A Proof that Fusing Measurements Using Point-to-Hyperplane Registration is Invariant to Relative Scale" [Best Student Paper Award, Second Runner-up]. (MFI 2016) [PDF]

  • "Point-to-hyperplane RGB-D Pose Estimation: Fusing Photometric and Geometric Measurements". [Best Student Paper Award, Finalist]. (IROS 2016). [PDF]

  • "Prototype of cell with 16 electrodes for tomography of electrical impedance by microcontrollers". ELECTRO 2011 (2011).

  • "Circuit analysis of bone samples with calcium deficiency obtained from the spectroscopy". ELECTRO 2011 (2011).

  • "Acquisition data system of voltage and current for a phantom cell". University of Guanajuato (2010).

Posters:

• • Localisation Orientation and Cartography 3D (LOCA-3D): Indoor-outdoor navigation system. Challenge MALIN 2021. [Poster]

  • "Direct matching for improving image-based registration". IROS 2015. [Poster]

  • "Odometry of a crawler mobile robot". MUMF. 2014. [Poster][Project]