Pedro Miraldo
Former Collaborator
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 |
|---|
Closed Projects
| Acronym | Name | Funding | Dates |
|---|---|---|---|
| STORESLAM | Accurate Agent Localization and Mapping Methods for Structured Indoor Retail Store Environments | IND_INTL | 2020-06|2023-07 |
| HaRoDE | Human-aware service robots for domestic environments | FCT | 2016-01|2019-12 |
| RoCKIn | Robot Competitions Kick Innovation in Cognitive Systems and Robotics | EU-FP7 | 2013-01|2015-12 |
[1] André Mateus, Siddhant Ranade, Srikumar Ramalingam, Pedro Miraldo, "Fast and Accurate 3D Registration from Line Intersection Constraints", Int J Comput Vis 131, 2044–2069, 2023
[2] João Cardoso, Pedro Miraldo, "Solving the Discrete Euler-Arnold Equations for the Generalized Rigid Body Motion", Journal of Computational and Applied Mathematics, 2021, 2021
[3] André Mateus, Omar Tahri, Antonio Pedro Aguiar, Pedro Lima, Pedro Miraldo, "On Incremental Structure from Motion Using Lines", IEEE Transactions on Robotics, pp. 1-16, 2021, 2021
[4] Pedro Miraldo, João Cardoso, "On the Generalized Essential Matrix Correction: An efficient solution to the problem and its applications", Journal of Mathematical Imaging and Vision volume 62, pp. 1107–1120, 2020
[5] 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
[6] 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
[7] 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
[8] 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
[9] David Ribeiro, André Mateus, Pedro Miraldo, Jacinto Nascimento, "A Real-Time Deep Learning Pedestrian Detector for Robot Navigation", 2017
[10] 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
[11] 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
[12] 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
[13] 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] Arihant Gaur , Gonçalo Pais, Pedro Miraldo, "Oriented-grid Encoder for 3D Implicit Representations", International Conference on 3D Vision , 2024
[2] Valter Piedade, Pedro Miraldo, "BANSAC: A dynamic BAyesian Network for adaptive SAmple Consensus", 2023
[3] Pedro Miraldo, José Iglésias, "A Unified Model for Line Projections in Catadioptric Cameras with Rotationally Symmetric Mirrors", Proc. of CVPR 2022 - IEEE / CVF Computer Vision and Pattern Recognition Conference, New Orleans, USA, 2022
[4] André Mateus, Pedro Lima, Pedro Miraldo, "An observer cascade for velocity and multiple line estimation", Proc. of ICRA 2022 - IEEE Conference on Robotics and Automation, Philadelphia, PA, USA, 2022
[5] Siddhant Ranade, Xin Yu, Shantnu Kakkar, Pedro Miraldo, Srikumar Ramalingam, "Mapping of Sparse 3D Data using Alternating Projection", Proc. Asian Conf. Computer Vision (ACCV), 2020. , 2020
[6] G. Dias Pais, Srikumar Ramalingam, Venu Govindu, Jacinto Nascimento, Rama Chellappa, Pedro Miraldo, "3DRegNet: A Deep Neural Network for 3D Point Registration", IEEE/CVF Conf. Computer Vision and Pattern Recognition (CVPR), 2020
[7] André Mateus, Srikumar Ramalingam, Pedro Miraldo, "Minimal Solvers for 3D Scan Alignment with Pairs of Intersecting Lines", IEEE/CVF Conf. Computer Vision and Pattern Recognition (CVPR), 2020
[8] Gonçalo Pais, Srikumar Ramalingam, Venu Govindu, Jacinto Nascimento, Rama Chellappa, Pedro Miraldo, "3DRegNet: A Deep Neural Network for 3D Point Registration", Proc. of IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Seattle, USA, 2020
[9] Rômulo Rodrigues, Pedro Miraldo, Dimos Dimarogonas, António Pedro Aguiar, "Active Depth Estimation: Stability Analysis and its Applications", In Proc. IEEE. Int'l Conference on Robotics and Automation (ICRA), 2020
[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