Pedro Miraldo

Pedro Miraldo

Former Collaborator

Position: Researcher

tp.aobsilu.ocincet@odlarim.ordep

Phone :+351 218418271

Office: 6.10

Personal Page

I am a Researcher at ISR/IST. Before joining IST, I was a postdoctoral associate at KTH and an FCT postdoctoral researcher at ISR/IST. I got an M.Sc and Ph.D. degrees in Electrical and Computer Engineering, from the University of Coimbra, Portugal. Research interests: 3D computer vision, robot vision, active vision.

Current Projects

Acronym Name Funding Dates
HaRoDE Human-aware service robots for domestic environments FCT 2016-01|2019-12

Closed Projects

Acronym Name Funding Dates
RoCKIn Robot Competitions Kick Innovation in Cognitive Systems and Robotics EU-FP7 2013-01|2015-12

Journal Papers

[1] Pedro Lima, Carlos Azevedo, Emilia Brzozowska, João Cartucho, Tiago Dias, Joao Goncalves, Mithun Kinarullathil, Guilherme Lawless, Oscar Lima, Rute Luz, Pedro Miraldo, Enrico Piazza, Miguel Silva, Tiago Veiga, Rodrigo Ventura, SocRob@Home: Integrating AI Components in a Domestic Robot System, KI - Künstliche Intelligenz (2019), 2019
[2] André Mateus, David Ribeiro, Pedro Miraldo, Jacinto Nascimento, Efficient and robust Pedestrian Detection using Deep Learning for Human-Aware Navigation, Robotics and Autonomous Systems, Vol. 113, pp 23-37, 2019
[3] Rômulo Rodrigues, Meysam Basiri, António Pedro Aguiar, Pedro Miraldo, Low-level Active Visual Navigation: Increasing robustness of vision-based localization using potential fields, IEEE Robotics and Automation Letters ( Volume: 3, Issue: 3, July 2018 ) , 2018
[4] Xingjian Liu, Zhongwei Li, K. Zhong, YuhJin Chao, Pedro Miraldo, Yusheng Shia, Generic distortion model for metrology under optical microscopes, Optics and Lasers in Engineering, Vol. 103, pp. 119-126, April, 2018
[5] David Ribeiro, André Mateus, Pedro Miraldo, Jacinto Nascimento, A Real-Time Deep Learning Pedestrian Detector for Robot Navigation, 2017
[6] Tiago Dias, Pedro Miraldo, Nuno Goncalves, A Framework for Augmented Reality using Non-Central Catadioptric Cameras, Journal of Intelligent & Robotic Systems (Epub ahead of print), February, 2016
[7] X. Liu, Z. Li, Pedro Miraldo, K. Zhong, Y. Shi, A Framework to Calibrate the Scanning Electron Microscope under Variational Magnifications, IEEE Photonics Technology Letters, January, 2016 - PDF
[8] Pedro Miraldo, H Araujo, Pose Estimation for Non-Central Cameras Using Planes, Journal of Intelligent & Robotic Systems, Springer, Vol. 80, Issue 3, pp. 595-608, December. DOI 10.1007/s10846-015-0193-3;, 2015
[9] F. Amigoni, E. Bastianelli, J. Berghofer, A. Bonarini, G. Fontana, N. Hochgeschwender, L. Iocchi, G. Kraetzschmar, Pedro Lima, M. Matteucci, Pedro Miraldo, D. Nardi, V. Schiaffonati, Enabling Replicable Experiments and Benchmarking with RoCKIn Competitions, IEEE Robotics and Automation Magazine, 22(3), pp. 53-61. ISSN : 1070-9932, DOI: 10.1109/MRA.2015.2448871, 2015

Conference Papers

[10] Pedro Miraldo, Surojit Saha, S Ramalingam, Minimal Solvers for Mini-Loop Closures in 3D Multi-Scan Alignment, Proc. of IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2019
[11] Gonçalo Pais, Tiago Dias, Jacinto Nascimento, Pedro Miraldo, OmniDRL: Robust Pedestrian Detection using Deep Reinforcement Learning on Omnidirectional Cameras, Proc. of IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019
[12] João Campos, João Cardoso, Pedro Miraldo, POSEAMM: A Unified Framework for Solving Pose Problems using an Alternating Minimization Method, Proc. of IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019
[13] André Mateus, O. Tahri, Pedro Miraldo, Active Estimation of 3D Lines in Spherical Coordinates, Proc. of American Control Conference, USA, 2019
[14] André Mateus, O. Tahri, Pedro Miraldo, Active Structure-from-Motion for 3D Straight Lines, Proc. of IROS 2018 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, 2018
[15] Pedro Miraldo, Tiago Dias, S Ramalingam, A Minimal Closed-Form Solution for Multi-Perspective Pose Estimation using Points and Lines, Proc. of ECCV 2018 - European Conference on Computer Vision, Munich, Germany, 2018
[16] Pedro Miraldo, Francisco Girbal Eiras, S Ramalingam, Analytical Modeling of Vanishing Points and Curves in Catadioptric Cameras, accepted, CVPR 2018 - IEEE Conference on Computer Vision and Pattern Recognition, Salt Lake City, USA, 2018
[17] Rômulo Rodrigues, Meysam Basiri, Antonio Pedro Aguiar, Pedro Miraldo, Feature Based Potential Field for Low-level Active Visual Navigation, Proc. of ROBOT 2017 - 3rd Iberian Robotics Conference. Sevilla, Spain. Advances in Intelligent Systems and Computing, vol. 693. Springer, Cham, 2017
[18] David Ribeiro, André Mateus, Pedro Miraldo, Jacinto Nascimento, A real-time deep learning pedestrian detector for robot navigation, Proc. of ICARSC 2017 - 17th International Conference on Autonomous Robot Systems and Competitions, Coimbra, Portugal, 2017
[19] J. Cardoso, Pedro Miraldo, H Araujo, An Explicit Solution for the Plucker Correction Problem, Proc. of ICPR 2016 - International Conference on Pattern Recognition, Cancun, Mexico, 2016
[20] J. Cardoso, Pedro Miraldo, H Araujo, Plucker Correction Problem: Analysis and Improvements in Efficiency, Proc. of ICPR 2016 - 23rd International Conference on Pattern Recognition, Cancún, México, 2016
[21] José Iglésias, Pedro Miraldo, Rodrigo Ventura, Towards an Omnidirectional Catadioptric RGB-D Camera, Proc. of IROS 2016 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Korea, 2016 - PDF
[22] Tiago Veiga, Pedro Miraldo, Rodrigo Ventura, Pedro Lima, Efficient Object Search for Mobile Robots in Dynamic Environments: Semantic Map as an Input for the Decision Maker, Proc. of IROS 2016 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Korea, 2016 - PDF
[23] T. Dias, H Araujo, Pedro Miraldo, 3D Reconstruction with Low Resolution, Small Baseline and High Radial Distortion Stereo Images, Proc. of ICDSC 2016 - 10th International Conference on Distributed Smart Camera, Paris, France, 2016
[24] Rodrigo Ventura, Meysam Basiri, André Mateus, J. Garcia, Pedro Miraldo, P. Santos, Pedro Lima, A Domestic Assistive Robot Developed Through Robotic Competitions, IJCAI 2016 Workshop on Autonomous Mobile Service Robots, New York, USA, 2016 - PDF
[25] André Mateus, Pedro Miraldo, Pedro Lima, João Sequeira, Human-Aware Navigation using External Omnidirectional Cameras, Proc. of ROBOT 2015 - 2nd Iberian Robotics Conference, Lisbon, Portugal. Springer Advances in Intelligent Systems and Computing Vol. 417, pp. 283-295, 2015
[26] Tiago Dias, Pedro Miraldo, Nuno Goncalves, Pedro Lima, Augmented Reality on Robot Navigation using Non-Central Catadioptric Cameras, Proc. of IROS 2015 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, 2015
[27] Tiago Dias, Pedro Miraldo, Nuno Goncalves, A Framework for Augmented Reality using Non-Central Catadioptric Cameras, Proc. of ICARSC 2015 - IEEE International Conference on Autonomous Robot Systems and Competitions, pp.213-220. Vila Real, Portugal. doi: 10.1109/ICARSC.2015.31, 2015 - PDF
[1] Pedro Lima, Carlos Azevedo, Emilia Brzozowska, João Cartucho, Tiago Dias, Joao Goncalves, Mithun Kinarullathil, Guilherme Lawless, Oscar Lima, Rute Luz, Pedro Miraldo, Enrico Piazza, Miguel Silva, Tiago Veiga, Rodrigo Ventura, SocRob@Home: Integrating AI Components in a Domestic Robot System, KI - Künstliche Intelligenz (2019), 2019
[2] André Mateus, David Ribeiro, Pedro Miraldo, Jacinto Nascimento, Efficient and robust Pedestrian Detection using Deep Learning for Human-Aware Navigation, Robotics and Autonomous Systems, Vol. 113, pp 23-37, 2019
[3] Rômulo Rodrigues, Meysam Basiri, António Pedro Aguiar, Pedro Miraldo, Low-level Active Visual Navigation: Increasing robustness of vision-based localization using potential fields, IEEE Robotics and Automation Letters ( Volume: 3, Issue: 3, July 2018 ) , 2018
[4] Xingjian Liu, Zhongwei Li, K. Zhong, YuhJin Chao, Pedro Miraldo, Yusheng Shia, Generic distortion model for metrology under optical microscopes, Optics and Lasers in Engineering, Vol. 103, pp. 119-126, April, 2018
[5] David Ribeiro, André Mateus, Pedro Miraldo, Jacinto Nascimento, A Real-Time Deep Learning Pedestrian Detector for Robot Navigation, 2017
[6] Tiago Dias, Pedro Miraldo, Nuno Goncalves, A Framework for Augmented Reality using Non-Central Catadioptric Cameras, Journal of Intelligent & Robotic Systems (Epub ahead of print), February, 2016
[7] X. Liu, Z. Li, Pedro Miraldo, K. Zhong, Y. Shi, A Framework to Calibrate the Scanning Electron Microscope under Variational Magnifications, IEEE Photonics Technology Letters, January, 2016 - PDF
[8] Pedro Miraldo, H Araujo, Pose Estimation for Non-Central Cameras Using Planes, Journal of Intelligent & Robotic Systems, Springer, Vol. 80, Issue 3, pp. 595-608, December. DOI 10.1007/s10846-015-0193-3;, 2015
[9] F. Amigoni, E. Bastianelli, J. Berghofer, A. Bonarini, G. Fontana, N. Hochgeschwender, L. Iocchi, G. Kraetzschmar, Pedro Lima, M. Matteucci, Pedro Miraldo, D. Nardi, V. Schiaffonati, Enabling Replicable Experiments and Benchmarking with RoCKIn Competitions, IEEE Robotics and Automation Magazine, 22(3), pp. 53-61. ISSN : 1070-9932, DOI: 10.1109/MRA.2015.2448871, 2015
[1] Pedro Miraldo, Surojit Saha, S Ramalingam, Minimal Solvers for Mini-Loop Closures in 3D Multi-Scan Alignment, Proc. of IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2019
[2] Gonçalo Pais, Tiago Dias, Jacinto Nascimento, Pedro Miraldo, OmniDRL: Robust Pedestrian Detection using Deep Reinforcement Learning on Omnidirectional Cameras, Proc. of IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019
[3] João Campos, João Cardoso, Pedro Miraldo, POSEAMM: A Unified Framework for Solving Pose Problems using an Alternating Minimization Method, Proc. of IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019
[4] André Mateus, O. Tahri, Pedro Miraldo, Active Estimation of 3D Lines in Spherical Coordinates, Proc. of American Control Conference, USA, 2019
[5] André Mateus, O. Tahri, Pedro Miraldo, Active Structure-from-Motion for 3D Straight Lines, Proc. of IROS 2018 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, 2018
[6] Pedro Miraldo, Tiago Dias, S Ramalingam, A Minimal Closed-Form Solution for Multi-Perspective Pose Estimation using Points and Lines, Proc. of ECCV 2018 - European Conference on Computer Vision, Munich, Germany, 2018
[7] Pedro Miraldo, Francisco Girbal Eiras, S Ramalingam, Analytical Modeling of Vanishing Points and Curves in Catadioptric Cameras, accepted, CVPR 2018 - IEEE Conference on Computer Vision and Pattern Recognition, Salt Lake City, USA, 2018
[8] Rômulo Rodrigues, Meysam Basiri, Antonio Pedro Aguiar, Pedro Miraldo, Feature Based Potential Field for Low-level Active Visual Navigation, Proc. of ROBOT 2017 - 3rd Iberian Robotics Conference. Sevilla, Spain. Advances in Intelligent Systems and Computing, vol. 693. Springer, Cham, 2017
[9] David Ribeiro, André Mateus, Pedro Miraldo, Jacinto Nascimento, A real-time deep learning pedestrian detector for robot navigation, Proc. of ICARSC 2017 - 17th International Conference on Autonomous Robot Systems and Competitions, Coimbra, Portugal, 2017
[10] J. Cardoso, Pedro Miraldo, H Araujo, An Explicit Solution for the Plucker Correction Problem, Proc. of ICPR 2016 - International Conference on Pattern Recognition, Cancun, Mexico, 2016
[11] J. Cardoso, Pedro Miraldo, H Araujo, Plucker Correction Problem: Analysis and Improvements in Efficiency, Proc. of ICPR 2016 - 23rd International Conference on Pattern Recognition, Cancún, México, 2016
[12] José Iglésias, Pedro Miraldo, Rodrigo Ventura, Towards an Omnidirectional Catadioptric RGB-D Camera, Proc. of IROS 2016 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Korea, 2016 - PDF
[13] Tiago Veiga, Pedro Miraldo, Rodrigo Ventura, Pedro Lima, Efficient Object Search for Mobile Robots in Dynamic Environments: Semantic Map as an Input for the Decision Maker, Proc. of IROS 2016 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Korea, 2016 - PDF
[14] T. Dias, H Araujo, Pedro Miraldo, 3D Reconstruction with Low Resolution, Small Baseline and High Radial Distortion Stereo Images, Proc. of ICDSC 2016 - 10th International Conference on Distributed Smart Camera, Paris, France, 2016
[15] Rodrigo Ventura, Meysam Basiri, André Mateus, J. Garcia, Pedro Miraldo, P. Santos, Pedro Lima, A Domestic Assistive Robot Developed Through Robotic Competitions, IJCAI 2016 Workshop on Autonomous Mobile Service Robots, New York, USA, 2016 - PDF
[16] André Mateus, Pedro Miraldo, Pedro Lima, João Sequeira, Human-Aware Navigation using External Omnidirectional Cameras, Proc. of ROBOT 2015 - 2nd Iberian Robotics Conference, Lisbon, Portugal. Springer Advances in Intelligent Systems and Computing Vol. 417, pp. 283-295, 2015
[17] Tiago Dias, Pedro Miraldo, Nuno Goncalves, Pedro Lima, Augmented Reality on Robot Navigation using Non-Central Catadioptric Cameras, Proc. of IROS 2015 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, 2015
[18] Tiago Dias, Pedro Miraldo, Nuno Goncalves, A Framework for Augmented Reality using Non-Central Catadioptric Cameras, Proc. of ICARSC 2015 - IEEE International Conference on Autonomous Robot Systems and Competitions, pp.213-220. Vila Real, Portugal. doi: 10.1109/ICARSC.2015.31, 2015 - PDF