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] 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
[2] 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
[3] 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
[4] 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
[5] 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
[6] 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
[7] 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

[8] 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
[9] 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
[10] 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
[11] André Mateus, O. Tahri, Pedro Miraldo, Active Estimation of 3D Lines in Spherical Coordinates, Proc. of American Control Conference, USA, 2019
[12] 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
[13] 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
[14] 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
[15] 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
[16] 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
[17] 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
[18] 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
[19] 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
[20] 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
[21] 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
[22] 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
[23] 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
[24] 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
[25] 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] 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
[2] 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
[3] 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
[4] 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
[5] 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
[6] 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
[7] 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