Pedro Miraldo

Pedro Miraldo
Pedro's Quick Links

  • Biography

    Pedro Miraldo held an FCT postdoctoral researcher grant at the Institute for Systems & Robotics and the Department of Electrical & Computer Engineering, IST Instituto Superior Tecnico Lisbon from 2014 to 2018. Then, he joined the Division of Decision and Control Systems at KTH Royal Institute of Technology as a postdoctoral associate from 2018 to 2019. Finally, he returned to IST in 2019 as a second-stage Researcher (comparable to Assistant Research Professor).

  • Recent News & Events

    •  NEWS    MERL Papers, Workshops, and Talks at ICCV 2025
      Date: October 19, 2025 - October 23, 2025
      Where: Honolulu, HI, USA
      MERL Contacts: Petros T. Boufounos; Anoop Cherian; Toshiaki Koike-Akino; Hassan Mansour; Tim K. Marks; Pedro Miraldo; Kuan-Chuan Peng; Pu (Perry) Wang
      Research Areas: Artificial Intelligence, Computer Vision, Machine Learning, Signal Processing
      Brief
      • MERL researchers presented 3 conference papers and 3 workshop papers, co-organized 2 workshops, and delivered 2 invited talks at the IEEE International Conference on Computer Vision (ICCV) 2025, which was held in Honolulu, HI, USA from October 19-23, 2025. ICCV is one of the most prestigious and competitive international conferences in the area of computer vision. Details of MERL contributions are provided below:


        Main Conference Papers:

        1. "SAC-GNC: SAmple Consensus for adaptive Graduated Non-Convexity" by V. Piedade, C. Sidhartha, J. Gaspar, V. M. Govindu, and P. Miraldo. (Highlight Paper)
        Paper: https://www.merl.com/publications/TR2025-146

        2. "Toward Long-Tailed Online Anomaly Detection through Class-Agnostic Concepts" by C.-A. Yang, K.-C. Peng, and R. A. Yeh.
        Paper: https://www.merl.com/publications/TR2025-124

        3. "Manual-PA: Learning 3D Part Assembly from Instruction Diagrams" by J. Zhang, A. Cherian, C. Rodriguez-Opazo, W. Deng, and S. Gould.
        Paper: https://www.merl.com/publications/TR2025-139


        MERL Co-Organized Workshops:

        1. "The Workshop on Anomaly Detection with Foundation Models (ADFM)" by K.-C. Peng, Y. Zhao, and A. Aich.
        Workshop link: https://adfmw.github.io/iccv25/

        2. "The 8th International Workshop on Computer Vision for Physiological Measurement (CVPM)" by D. McDuff, W. Wang, S. Stuijk, T. Marks, H. Mansour, V. R. Shenoy.
        Workshop link: https://sstuijk.estue.nl/cvpm/cvpm25/


        MERL Keynote Talks at Workshops:

        1. Tim K. Marks, Keynote Speaker at the Workshop on Computer Vision for Physiological Measurement (CVPM).
        Workshop website: https://vineetrshenoy.github.io/cvpmSeptember2025/

        2. Tim K. Marks, Keynote Speaker at the Workshop on Analysis and Modeling of Faces and Gestures (AMFG).
        Workshop website: https://fulab.sites.northeastern.edu/amfg2025/


        Workshop Papers:

        1. "Joint Training of Image Generator and Detector for Road Defect Detection" by K.-C. Peng.
        paper: https://www.merl.com/publications/TR2025-149

        2. "Radar-Conditioned 3D Bounding Box Diffusion for Indoor Human Perception" by R. Yataka, P. Wang, P.T. Boufounos, and R. Takahashi.
        paper: https://www.merl.com/publications/TR2025-154

        3. "L-GGSC: Learnable Graph-based Gaussian Splatting Compression" by S. Kato, T. Koike-Akino, and T. Fujihashi.
        paper: https://www.merl.com/publications/TR2025-148
    •  
    •  NEWS    MERL Papers, Workshops, and Talks at ICCV 2025
      Date: October 19, 2025 - October 23, 2025
      Where: Honolulu, HI, USA
      MERL Contacts: Petros T. Boufounos; Anoop Cherian; Toshiaki Koike-Akino; Hassan Mansour; Tim K. Marks; Pedro Miraldo; Kuan-Chuan Peng; Pu (Perry) Wang
      Research Areas: Artificial Intelligence, Computer Vision, Machine Learning, Signal Processing
      Brief
      • MERL researchers presented 3 conference papers and 3 workshop papers, co-organized 2 workshops, and delivered 2 invited talks at the IEEE International Conference on Computer Vision (ICCV) 2025, which was held in Honolulu, HI, USA from October 19-23, 2025. ICCV is one of the most prestigious and competitive international conferences in the area of computer vision. Details of MERL contributions are provided below:


        Main Conference Papers:

        1. "SAC-GNC: SAmple Consensus for adaptive Graduated Non-Convexity" by V. Piedade, C. Sidhartha, J. Gaspar, V. M. Govindu, and P. Miraldo. (Highlight Paper)
        Paper: https://www.merl.com/publications/TR2025-146

        2. "Toward Long-Tailed Online Anomaly Detection through Class-Agnostic Concepts" by C.-A. Yang, K.-C. Peng, and R. A. Yeh.
        Paper: https://www.merl.com/publications/TR2025-124

        3. "Manual-PA: Learning 3D Part Assembly from Instruction Diagrams" by J. Zhang, A. Cherian, C. Rodriguez-Opazo, W. Deng, and S. Gould.
        Paper: https://www.merl.com/publications/TR2025-139


        MERL Co-Organized Workshops:

        1. "The Workshop on Anomaly Detection with Foundation Models (ADFM)" by K.-C. Peng, Y. Zhao, and A. Aich.
        Workshop link: https://adfmw.github.io/iccv25/

        2. "The 8th International Workshop on Computer Vision for Physiological Measurement (CVPM)" by D. McDuff, W. Wang, S. Stuijk, T. Marks, H. Mansour, V. R. Shenoy.
        Workshop link: https://sstuijk.estue.nl/cvpm/cvpm25/


        MERL Keynote Talks at Workshops:

        1. Tim K. Marks, Keynote Speaker at the Workshop on Computer Vision for Physiological Measurement (CVPM).
        Workshop website: https://vineetrshenoy.github.io/cvpmSeptember2025/

        2. Tim K. Marks, Keynote Speaker at the Workshop on Analysis and Modeling of Faces and Gestures (AMFG).
        Workshop website: https://fulab.sites.northeastern.edu/amfg2025/


        Workshop Papers:

        1. "Joint Training of Image Generator and Detector for Road Defect Detection" by K.-C. Peng.
        paper: https://www.merl.com/publications/TR2025-149

        2. "Radar-Conditioned 3D Bounding Box Diffusion for Indoor Human Perception" by R. Yataka, P. Wang, P.T. Boufounos, and R. Takahashi.
        paper: https://www.merl.com/publications/TR2025-154

        3. "L-GGSC: Learnable Graph-based Gaussian Splatting Compression" by S. Kato, T. Koike-Akino, and T. Fujihashi.
        paper: https://www.merl.com/publications/TR2025-148
    •  

    See All News & Events for Pedro

  • Research Highlights

  • MERL Publications

    •  Piedade, V., Chitturi, S., Gaspar, J., Govindu, V., Miraldo, P., "SAC-GNC: SAmple Consensus for adaptive Graduated Non-Convexity", IEEE International Conference on Computer Vision (ICCV), October 2025.
      BibTeX TR2025-146 PDF Presentation
      • @inproceedings{Piedade2025oct,
      • author = {{{Piedade, Valter and Chitturi, Sidhartha and Gaspar, Jose and Govindu, Venu and Miraldo, Pedro}}},
      • title = {{{SAC-GNC: SAmple Consensus for adaptive Graduated Non-Convexity}}},
      • booktitle = {IEEE International Conference on Computer Vision (ICCV)},
      • year = 2025,
      • month = oct,
      • url = {https://www.merl.com/publications/TR2025-146}
      • }
    •  Sawada, N., Miraldo, P., Lohit, S., Marks, T.K., Chatterjee, M., "FreBIS: Frequency-Based Stratification for Neural Implicit Surface Representations", IEEE Conference on Computer Vision and Pattern Recognition Workshop (CVPR), DOI: 10.1109/​CVPRW67362.2025.00041, June 2025, pp. 369-379.
      BibTeX TR2025-074 PDF
      • @inproceedings{Sawada2025jun,
      • author = {Sawada, Naoko and Miraldo, Pedro and Lohit, Suhas and Marks, Tim K. and Chatterjee, Moitreya},
      • title = {{FreBIS: Frequency-Based Stratification for Neural Implicit Surface Representations}},
      • booktitle = {IEEE Conference on Computer Vision and Pattern Recognition Workshop (CVPR)},
      • year = 2025,
      • pages = {369--379},
      • month = jun,
      • doi = {10.1109/CVPRW67362.2025.00041},
      • url = {https://www.merl.com/publications/TR2025-074}
      • }
    •  Ranade, S., Pais, G., Whitaker, R., Nascimento, J., Miraldo, P., Ramalingam, S., "SurfR: Surface Reconstruction with Multi-scale Attention", International Conference on 3D Vision (3DV), March 2025.
      BibTeX TR2025-039 PDF Presentation
      • @inproceedings{Ranade2025mar,
      • author = {{{Ranade, Siddhant and Pais, Goncalo and Whitaker, Ross and Nascimento, Jacinto and Miraldo, Pedro and Ramalingam, Srikumar}}},
      • title = {{{SurfR: Surface Reconstruction with Multi-scale Attention}}},
      • booktitle = {International Conference on 3D Vision (3DV)},
      • year = 2025,
      • month = mar,
      • url = {https://www.merl.com/publications/TR2025-039}
      • }
    •  Pais, G., Piedade, V., Chatterjee, M., Greiff, M., Miraldo, P., "A Probability-guided Sampler for Neural Implicit Surface Rendering", European Conference on Computer Vision (ECCV), Leonardis, A. and Ricci, E. and Roth, S. and Russakovsky, O., Sattler, T. and Varol, G., Eds., DOI: 10.1007/​978-3-031-72913-3_10, September 2024, pp. 164-182.
      BibTeX TR2024-129 PDF Video
      • @inproceedings{Pais2024sep,
      • author = {Pais, Goncalo and Piedade, Valter and Chatterjee, Moitreya and Greiff, Marcus and Miraldo, Pedro},
      • title = {{A Probability-guided Sampler for Neural Implicit Surface Rendering}},
      • booktitle = {European Conference on Computer Vision (ECCV)},
      • year = 2024,
      • editor = {Leonardis, A. and Ricci, E. and Roth, S. and Russakovsky, O., Sattler, T. and Varol, G.},
      • pages = {164--182},
      • month = sep,
      • publisher = {Springer, Cham},
      • doi = {10.1007/978-3-031-72913-3_10},
      • isbn = {978-3-031-72913-3},
      • url = {https://www.merl.com/publications/TR2024-129}
      • }
    •  Roque, P., Miraldo, P., Dimarogonas, D., "Multi-Agent Formation Control using Epipolar Constraints", IEEE Robotics and Automation Letters, DOI: 10.1109/​LRA.2024.3444690, Vol. 9, No. 12, pp. 11002-11009, September 2024.
      BibTeX TR2024-147 PDF
      • @article{Roque2024sep,
      • author = {Roque, Pedro and Miraldo, Pedro and Dimarogonas, Dimos},
      • title = {{Multi-Agent Formation Control using Epipolar Constraints}},
      • journal = {IEEE Robotics and Automation Letters},
      • year = 2024,
      • volume = 9,
      • number = 12,
      • pages = {11002--11009},
      • month = sep,
      • doi = {10.1109/LRA.2024.3444690},
      • issn = {2377-3766},
      • url = {https://www.merl.com/publications/TR2024-147}
      • }
    See All MERL Publications for Pedro

  • Other Publications

    •  André Mateus, Omar Tahri, A. Pedro Aguiar, Pedro U. Lima and Pedro Miraldo, "On Incremental Structure-from-Motion using Lines", IEEE Trans. Robotics (T-RO), Vol. 38, No. 1, pp. 391-406, 2022.
      BibTeX
      • @Article{j32,
      • author = {Mateus, Andr\'e and Tahri, Omar and Aguiar, A. Pedro and Lima, Pedro U. and Pedro Miraldo},
      • title = {On Incremental Structure-from-Motion using Lines},
      • journal = {IEEE Trans. Robotics (T-RO)},
      • year = 2022,
      • volume = 38,
      • number = 1,
      • pages = {391--406},
      • note = {[\href{https://arxiv.org/abs/2105.11196}{arXiv:2105.11196}, \href{https://doi.org/10.1109/TRO.2021.3085487}{doi}]}
      • }
    •  João R. Cardoso and Pedro Miraldo, "Solving the discrete Euler-Arnold equations for the generalized rigid body motion", Journal of Computational and Applied Mathematics (CAM), Vol. 402, pp. 113814, 2022.
      BibTeX
      • @Article{j33,
      • author = {Cardoso, Jo{\~a}o R. and Pedro Miraldo},
      • title = {Solving the discrete Euler-Arnold equations for the generalized rigid body motion},
      • journal = {Journal of Computational and Applied Mathematics (CAM)},
      • year = 2022,
      • volume = 402,
      • pages = 113814,
      • note = {[\href{https://arxiv.org/abs/2109.00505}{\it arXiv:2109.00505}, \href{https://doi.org/10.1016/j.cam.2021.113814}{doi}]}
      • }
    •  André Mateus, Pedro U. Lima and Pedro Miraldo, "An observer cascade for velocity and multiple line estimation", IEEE Int'l Conf. Robotics and Automation (ICRA), 2022.
      BibTeX
      • @Inproceedings{j34,
      • author = {Mateus, Andr\'e and Lima, Pedro U. and Pedro Miraldo},
      • title = {An observer cascade for velocity and multiple line estimation},
      • booktitle = {IEEE Int'l Conf. Robotics and Automation (ICRA)},
      • year = 2022,
      • note = {[\href{https://arxiv.org/abs/2203.01879}{arXiv:2203.01879},{doi}]}
      • }
    •  R. T. Rodrigues, P. Miraldo, D. V. Dimarogonas and A. P. Aguiar, "Active Depth Estimation: Stability Analysis and its Applications", IEEE Int'l Conf. Robotics and Automation (ICRA), 2020, pp. 2002-2008.
      BibTeX
      • @Inproceedings{j26,
      • author = {Rodrigues, R. T. and P. Miraldo and Dimarogonas, D. V. and Aguiar, A. P.},
      • title = {Active Depth Estimation: Stability Analysis and its Applications},
      • booktitle = {IEEE Int'l Conf. Robotics and Automation (ICRA)},
      • year = 2020,
      • pages = {2002--2008},
      • note = {[\href{https://arxiv.org/abs/2003.07137}{\it arXiv:2003.07137},\href{https://doi.org/10.1109/ICRA40945.2020.9196670}{doi}]}
      • }
    •  G. Dias Pais, Srikumar Ramalingam, Venu Madhav Govindu, Jacinto C. Nascimento, Rama Chellappa and Pedro Miraldo, "3DRegNet: A Deep Neural Network for 3D Point Registration", IEEE/CVF Conf. Computer Vision and Pattern Recognition (CVPR), 2020, pp. 7191-7201.
      BibTeX
      • @Inproceedings{j27,
      • author = {Pais, G. Dias and Ramalingam, Srikumar and Govindu, Venu Madhav and Nascimento, Jacinto C. and Chellappa, Rama and Pedro Miraldo},
      • title = {3DRegNet: A Deep Neural Network for 3D Point Registration},
      • booktitle = {IEEE/CVF Conf. Computer Vision and Pattern Recognition (CVPR)},
      • year = 2020,
      • pages = {7191--7201},
      • note = {[\href{https://arxiv.org/abs/1904.01701}{\it arXiv:1904.01701},\href{https://doi.org/10.1109/CVPR42600.2020.00722}{doi}]}
      • }
    •  André Mateus, Srikumar Ramalingam and Pedro Miraldo, "Minimal Solvers for 3D Scan Alignment with Pairs of Intersecting Lines", IEEE/CVF Conf. Computer Vision and Pattern Recognition (CVPR), 2020, pp. 7232-7242.
      BibTeX
      • @Inproceedings{j28,
      • author = {Mateus, Andr{\'e} and Ramalingam, Srikumar and Pedro Miraldo},
      • title = {Minimal Solvers for 3D Scan Alignment with Pairs of Intersecting Lines},
      • booktitle = {IEEE/CVF Conf. Computer Vision and Pattern Recognition (CVPR)},
      • year = 2020,
      • pages = {7232--7242},
      • note = {[\href{https://doi.org/10.1109/CVPR42600.2020.00726}{doi}]}
      • }
    •  Pedro Miraldo and João R. Cardoso, "On the Generalized Essential Matrix Correction: An efficient solution to the problem and its applications", Journal of Mathematical Imaging and Vision, Vol. 62, pp. 1107-1120, 2020.
      BibTeX
      • @Article{j29,
      • author = {Pedro Miraldo and Cardoso, Jo{\~a}o R.},
      • title = {On the Generalized Essential Matrix Correction: An efficient solution to the problem and its applications},
      • journal = {Journal of Mathematical Imaging and Vision},
      • year = 2020,
      • volume = 62,
      • pages = {1107--1120},
      • note = {[\href{https://arxiv.org/abs/1709.06328}{\it arXiv:1709.06328}, \href{https://doi.org/10.1007/s10851-020-00961-w}{doi}]}
      • }
    •  Pedro Roque, Elisa Bin, Pedro Miraldo and Dimos V. Dimarogonas, "Fast Model Predictive Image-Based Visual Servoing for Quadrotors", IEEE/RSJ Int'l Conf. Intelligent Robots and Systems (IROS), 2020, pp. 7566-7572.
      BibTeX
      • @Inproceedings{j30,
      • author = {Roque, Pedro and Bin, Elisa and Pedro Miraldo and Dimarogonas, Dimos V.},
      • title = {Fast Model Predictive Image-Based Visual Servoing for Quadrotors},
      • booktitle = {IEEE/RSJ Int'l Conf. Intelligent Robots and Systems (IROS)},
      • year = 2020,
      • pages = {7566--7572},
      • note = {[\href{https://doi.org/10.1109/IROS45743.2020.9340759}{doi}]}
      • }
    •  Siddhant Ranade, Yu Xin, Shantnu Kakkar, Pedro Miraldo and Srikumar Ramalingam, "Mapping of Sparse 3D Data using Alternating Projection", Asian Conf. Computer Vision (ACCV), 2020, pp. 295-313.
      BibTeX
      • @Inproceedings{j31,
      • author = {Ranade, Siddhant and Xin, Yu and Kakkar, Shantnu and Pedro Miraldo and Ramalingam, Srikumar},
      • title = {Mapping of Sparse 3D Data using Alternating Projection},
      • booktitle = {Asian Conf. Computer Vision (ACCV)},
      • year = 2020,
      • pages = {295--313},
      • note = {[\href{https://arxiv.org/abs/2010.02516}{\it arXiv:2010.02516},\href{https://doi.org/10.1007/978-3-030-69525-5_18}{doi}]}
      • }
    •  J. Campos, J. R. Rodrigues and P. Miraldo, "POSEAMM: A Unified Framework for Solving Pose Problems using an Alternating Minimization Method", IEEE Int'l Conf. Robotics and Automation (ICRA), 2019, pp. 3493-3499.
      BibTeX
      • @Inproceedings{j21,
      • author = {Campos, J. and Rodrigues, J. R. and P. Miraldo},
      • title = {POSEAMM: A Unified Framework for Solving Pose Problems using an Alternating Minimization Method},
      • booktitle = {IEEE Int'l Conf. Robotics and Automation (ICRA)},
      • year = 2019,
      • pages = {3493--3499},
      • note = {[\href{https://arxiv.org/abs/1904.04858}{\it arXiv:1904.04858}, \href{https://doi.org/10.1109/ICRA.2019.8793694}{doi}]}
      • }
    •  G. Pais, J. C. Nascimento and P. Miraldo, "OmniDRL: Robust Pedestrian Detection using Deep Reinforcement Learning on Omnidirectional Cameras", IEEE Int'l Conf. Robotics and Automation (ICRA), 2019, pp. 4782-4789.
      BibTeX
      • @Inproceedings{j22,
      • author = {Pais, G. and Nascimento, J. C. and P. Miraldo},
      • title = {OmniDRL: Robust Pedestrian Detection using Deep Reinforcement Learning on Omnidirectional Cameras},
      • booktitle = {IEEE Int'l Conf. Robotics and Automation (ICRA)},
      • year = 2019,
      • pages = {4782--4789},
      • note = {[\href{https://arxiv.org/abs/1903.00676}{\it arXiv:1903.00676}, \href{https://doi.org/10.1109/ICRA.2019.8794471}{doi}]}
      • }
    •  P. Miraldo, S. Saha and S. Ramalingam, "Minimal Solvers for Mini-Loop Closures in 3D Multi-Scan Alignment", IEEE/CVF Conf. Computer Vision and Pattern Recognition (CVPR), 2019, pp. 9691-9700.
      BibTeX
      • @Inproceedings{j23,
      • author = {P. Miraldo and Saha, S. and Ramalingam, S.},
      • title = {Minimal Solvers for Mini-Loop Closures in 3D Multi-Scan Alignment},
      • booktitle = {IEEE/CVF Conf. Computer Vision and Pattern Recognition (CVPR)},
      • year = 2019,
      • pages = {9691--9700},
      • note = {[\href{https://arxiv.org/abs/1904.03941}{\it arXiv:1904.03941}, \href{https://doi.org/10.1109/CVPR.2019.00993}{doi}]}
      • }
    •  R. Rodrigues, P. Miraldo, D. V. Dimarogonas and A. P. Aguiar, "A Framework for Depth Estimation and Relative Localization of Ground Robots using Computer Vision", IEEE/RSJ Int'l Conf. Intelligent Robots and Systems (IROS), 2019, pp. 3719-3724.
      BibTeX
      • @Inproceedings{j24,
      • author = {Rodrigues, R. and P. Miraldo and Dimarogonas, D. V. and Aguiar, A. P.},
      • title = {A Framework for Depth Estimation and Relative Localization of Ground Robots using Computer Vision},
      • booktitle = {IEEE/RSJ Int'l Conf. Intelligent Robots and Systems (IROS)},
      • year = 2019,
      • pages = {3719--3724},
      • note = {[\href{https://arxiv.org/abs/1908.00309}{\it arXiv:1908.00309}, \href{https://doi.org/10.1109/IROS40897.2019.8968459}{doi}]}
      • }
    •  P. U. Lima, C. Azevedo, E. Brzozowska, J. Cartucho, T. J. Dias, J. Gonçalves, M. Kinarullathil, G. Lawless, O. Lima, R. Luz, P. Miraldo, E. Piazza, M. Silva, T. Veiga and R. Ventura, "SocRob$@$Home Integrating AI Components in a Domestic Robot System", Künstliche Intelligenz (KI), Vol. 33, No. 4, pp. 343-356, 2019.
      BibTeX
      • @Article{j25,
      • author = {Lima, P. U. and Azevedo, C. and Brzozowska, E. and Cartucho, J. and Dias, T. J. and Gon\c{c}alves, J. and Kinarullathil, M. and Lawless, G. and Lima, O. and Luz, R. and P. Miraldo and Piazza, E. and Silva, M. and Veiga, T. and Ventura, R.},
      • title = {SocRob$@$Home Integrating AI Components in a Domestic Robot System},
      • journal = {K\"{u}nstliche Intelligenz (KI)},
      • year = 2019,
      • volume = 33,
      • number = 4,
      • pages = {343--356},
      • note = {[\href{https://doi.org/10.1007/s13218-019-00618-w}{doi}]}
      • }
    •  X. Liu, Z. Li, K. Zhong, Y. Chao, P. Miraldo and Y. Shi, "Generic distortion model for metrology under optical microscopes", Optics and Lasers in Engineering (OLEN), Vol. 103, pp. 119-126, 2018.
      BibTeX
      • @Article{j15,
      • author = {Liu, X. and Li, Z. and Zhong, K. and Chao, Y. and P. Miraldo and Shi, Y.},
      • title = {Generic distortion model for metrology under optical microscopes},
      • journal = {Optics and Lasers in Engineering (OLEN)},
      • year = 2018,
      • volume = 103,
      • pages = {119--126},
      • note = {[\href{https://doi.org/10.1016/j.optlaseng.2017.12.006}{doi}]}
      • }
    •  R. Rodrigues, M. Basiri, A. P. Aguiar and P. Miraldo, "Low-level Active Visual Navigation: Increasing robustness of vision-based localization using potential fields", IEEE Robotics and Automation Letters (RA-L) and IEEE Int'l Conf. Robotics and Automation (ICRA), Vol. 3, No. 3, pp. 2079-2086, 2018.
      BibTeX
      • @Article{j16,
      • author = {Rodrigues, R. and Basiri, M. and Aguiar, A. P. and P. Miraldo},
      • title = {Low-level Active Visual Navigation: Increasing robustness of vision-based localization using potential fields},
      • journal = {IEEE Robotics and Automation Letters (RA-L) and IEEE Int'l Conf. Robotics and Automation (ICRA)},
      • year = 2018,
      • volume = 3,
      • number = 3,
      • pages = {2079--2086},
      • note = {[\href{https://arxiv.org/abs/1801.07249}{\it arXiv:1801.07249}, \href{https://doi.org/10.1109/LRA.2018.2809628}{doi}]}
      • }
    •  P. Miraldo, F. Eiras and S. Ramalingam, "Analytical Modeling of Vanishing Points and Curves in Catadioptric Cameras", IEEE/CVF Conf. Computer Vision and Pattern Recognition (CVPR), 2018, pp. 2012-2021.
      BibTeX
      • @Inproceedings{j17,
      • author = {P. Miraldo and Eiras, F. and Ramalingam, S.},
      • title = {Analytical Modeling of Vanishing Points and Curves in Catadioptric Cameras},
      • booktitle = {IEEE/CVF Conf. Computer Vision and Pattern Recognition (CVPR)},
      • year = 2018,
      • pages = {2012--2021},
      • note = {[\href{https://arxiv.org/abs/1804.09460}{\it arXiv:1804.09460}, \href{https://doi.org/10.1109/CVPR.2018.00215}{doi}]}
      • }
    •  A. Mateus, O. Tahri and P. Miraldo, "Active Structure-from-Motion for 3D Straight Lines", IEEE/RSJ Int'l Conf. Intelligent Robots and Systems (IROS), 2018, pp. 5819-5825.
      BibTeX
      • @Inproceedings{j18,
      • author = {Mateus, A. and Tahri, O. and P. Miraldo},
      • title = {Active Structure-from-Motion for 3D Straight Lines},
      • booktitle = {IEEE/RSJ Int'l Conf. Intelligent Robots and Systems (IROS)},
      • year = 2018,
      • pages = {5819--5825},
      • note = {[\href{https://arxiv.org/abs/1807.00753}{\it arXiv:1807.00753}, \href{https://doi.org/10.1109/IROS.2018.8593793}{doi}]}
      • }
    •  P. Miraldo, T. Dias and S. Ramalingam, "A Minimal Closed-Form Solution for Multi-Perspective Pose Estimation using Points and Lines", European Conf. Computer Vision (ECCV), 2018, pp. 490-507.
      BibTeX
      • @Inproceedings{j19,
      • author = {P. Miraldo and Dias, T. and Ramalingam, S.},
      • title = {A Minimal Closed-Form Solution for Multi-Perspective Pose Estimation using Points and Lines},
      • booktitle = {European Conf. Computer Vision (ECCV)},
      • year = 2018,
      • pages = {490--507},
      • note = {[\href{https://arxiv.org/abs/1807.09970}{\it arXiv:1807.09970}, \href{https://doi.org/10.1007/978-3-030-01270-0_29}{doi}]}
      • }
    •  A. Mateus, D. Ribeiro, P. Miraldo and J. C. Nascimento, "Efficient and Robust Pedestrian Detection using Deep Learning for Human-Aware Navigation", Robotics and Autonomous Systems (RAS), Vol. 113, pp. 23-37, 2018.
      BibTeX
      • @Article{j20,
      • author = {Mateus, A. and Ribeiro, D. and P. Miraldo and Nascimento, J. C.},
      • title = {Efficient and Robust Pedestrian Detection using Deep Learning for Human-Aware Navigation},
      • journal = {Robotics and Autonomous Systems (RAS)},
      • year = 2018,
      • volume = 113,
      • pages = {23--37},
      • note = {[\href{https://arxiv.org/abs/1607.04441}{\it arXiv:1607.04441}, \href{https://doi.org/10.1016/j.robot.2018.12.007}{doi}]}
      • }
    •  X. Liu, Z. Li, P. Miraldo, K. Zhong and Y. Shi, "A framework to calibrate the scanning electron microscope under any magnifications", IEEE Photonics Technology Letters (PT-L), Vol. 28, No. 16, pp. 1715-1718, 2016.
      BibTeX
      • @Article{j12,
      • author = {Liu, X. and Li, Z. and P. Miraldo and Zhong, K. and Shi, Y.},
      • title = {A framework to calibrate the scanning electron microscope under any magnifications},
      • journal = {IEEE Photonics Technology Letters (PT-L)},
      • year = 2016,
      • volume = 28,
      • number = 16,
      • pages = {1715--1718},
      • note = {[\href{https://doi.org/10.1109/LPT.2016.2522758}{doi}]}
      • }
    •  T. Veiga, P. Miraldo, R. Ventura and P. Lima, "Efficient Object Search for Mobile Robots in Dynamic Environments: Semantic Map as an Input for the Decision Maker", IEEE/RSJ Int'l Conf. Intelligent Robots and Systems (IROS), 2016, pp. 2745-2750.
      BibTeX
      • @Inproceedings{j13,
      • author = {Veiga, T. and P. Miraldo and Ventura, R. and Lima, P.},
      • title = {Efficient Object Search for Mobile Robots in Dynamic Environments: Semantic Map as an Input for the Decision Maker},
      • booktitle = {IEEE/RSJ Int'l Conf. Intelligent Robots and Systems (IROS)},
      • year = 2016,
      • pages = {2745--2750},
      • note = {[\href{https://doi.org/10.1109/IROS.2016.7759426}{doi}]}
      • }
    •  F. Amigoni, J. Berghofer, A. Bonarini, N. Hochgeschwender G. Fontana, L. Iocchi, G. K. Kraetzschmar, P. Lima, M. Matteucci, P. Miraldo, D. Nardi and V. Schiaonati, "Competitions for Benchmarking: Task and Functionality Scoring Complete Performance Assessment", IEEE Robotics Automation Magazine (RA-M), Vol. 22, No. 3, pp. 53-61, 2015.
      BibTeX
      • @Article{j10,
      • author = {Amigoni, F. and Berghofer, J. and Bonarini, A. and G. Fontana, N. Hochgeschwender and Iocchi, L. and Kraetzschmar, G. K. and Lima, P. and Matteucci, M. and P. Miraldo and Nardi, D. and Schiaonati, V.},
      • title = {Competitions for Benchmarking: Task and Functionality Scoring Complete Performance Assessment},
      • journal = {IEEE Robotics Automation Magazine (RA-M)},
      • year = 2015,
      • volume = 22,
      • number = 3,
      • pages = {53--61},
      • note = {[\href{https://doi.org/10.1109/MRA.2015.2448871}{doi}]}
      • }
    •  P. Miraldo and H. Araujo, "Direct Solution to the Minimal Generalized Pose", IEEE Trans. Cybernetics (T-CYB), Vol. 45, No. 3, pp. 404-415, 2015.
      BibTeX
      • @Article{j5,
      • author = {P. Miraldo and Araujo, H.},
      • title = {Direct Solution to the Minimal Generalized Pose},
      • journal = {IEEE Trans. Cybernetics (T-CYB)},
      • year = 2015,
      • volume = 45,
      • number = 3,
      • pages = {404--415},
      • note = {[\href{https://doi.org/10.1109/TCYB.2014.2326970}{doi}]}
      • }
    •  P. Miraldo, H. Araujo and N. Gonçalves, "Pose Estimation for General Cameras Using Lines", IEEE Trans. Cybernetics (T-CYB), Vol. 45, No. 10, pp. 2156-2164, 2015.
      BibTeX
      • @Article{j6,
      • author = {P. Miraldo and Araujo, H. and Gon\c{c}alves, N.},
      • title = {Pose Estimation for General Cameras Using Lines},
      • journal = {IEEE Trans. Cybernetics (T-CYB)},
      • year = 2015,
      • volume = 45,
      • number = 10,
      • pages = {2156--2164},
      • note = {[\href{https://doi.org/10.1109/TCYB.2014.2366378}{doi}]}
      • }
    •  P. Miraldo and H. Araujo, "Generalized Essential Matrix: Properties of the Singular Value Decomposition", Image and Vision Computing (IVC), Vol. 34, pp. 45-50, 2015.
      BibTeX
      • @Article{j7,
      • author = {P. Miraldo and Araujo, H.},
      • title = {Generalized Essential Matrix: Properties of the Singular Value Decomposition},
      • journal = {Image and Vision Computing (IVC)},
      • year = 2015,
      • volume = 34,
      • pages = {45--50},
      • note = {[\href{https://doi.org/10.1016/j.imavis.2014.11.003}{doi}]}
      • }
    •  P. Miraldo and H. Araujo, "Pose Estimation for Non-Central Cameras Using Planes", Springer J. Intelligent & Robotic Systems (JINT), Vol. 80, No. 3, pp. 595-608, 2015.
      BibTeX
      • @Article{j8,
      • author = {P. Miraldo and Araujo, H.},
      • title = {Pose Estimation for Non-Central Cameras Using Planes},
      • journal = {Springer J. Intelligent \& Robotic Systems (JINT)},
      • year = 2015,
      • volume = 80,
      • number = 3,
      • pages = {595--608},
      • note = {[\href{https://doi.org/10.1007/s10846-015-0193-3}{doi}]}
      • }
    •  P. Miraldo and H. Araujo, "A Simple and Robust Solution to the Minimal General Pose Estimation", IEEE Int'l Conf. Robotics and Automation (ICRA), 2014, pp. 2119-2125.
      BibTeX
      • @Inproceedings{j3,
      • author = {P. Miraldo and Araujo, H.},
      • title = {A Simple and Robust Solution to the Minimal General Pose Estimation},
      • booktitle = {IEEE Int'l Conf. Robotics and Automation (ICRA)},
      • year = 2014,
      • pages = {2119--2125},
      • note = {[\href{https://doi.org/10.1109/ICRA.2014.6907150}{doi}]}
      • }
    •  P. Miraldo and H. Araujo, "Planar Pose Estimation for General Cameras using Known 3D Lines", IEEE/RSJ Int'l Conf. Intelligent Robots and Systems (IROS), 2014, pp. 4234-4240.
      BibTeX
      • @Inproceedings{j4,
      • author = {P. Miraldo and Araujo, H.},
      • title = {Planar Pose Estimation for General Cameras using Known 3D Lines},
      • booktitle = {IEEE/RSJ Int'l Conf. Intelligent Robots and Systems (IROS)},
      • year = 2014,
      • pages = {4234--4240},
      • note = {[\href{https://doi.org/10.1109/IROS.2014.6943159}{doi}]}
      • }
    •  P. Miraldo and H. Araujo, "Calibration of Smooth Camera Models", IEEE Trans. Pattern Analysis and Machine Intelligence (T-PAMI), Vol. 35, No. 9, pp. 2091-2103, 2013.
      BibTeX
      • @Article{j2,
      • author = {P. Miraldo and Araujo, H.},
      • title = {Calibration of Smooth Camera Models},
      • journal = {IEEE Trans. Pattern Analysis and Machine Intelligence (T-PAMI)},
      • year = 2013,
      • volume = 35,
      • number = 9,
      • pages = {2091--2103},
      • note = {[\href{https://doi.org/10.1109/TPAMI.2012.258}{doi}]}
      • }
    •  P. Miraldo, H. Araujo and J. Queiró, "Point-based Calibration Using a Parametric Representation of General Imaging Models", IEEE/CVF Int'l Conf. Computer Vision (ICCV), 2011, pp. 2304-2311.
      BibTeX
      • @Inproceedings{j1,
      • author = {P. Miraldo and Araujo, H. and Queir\'{o}, J.},
      • title = {Point-based Calibration Using a Parametric Representation of General Imaging Models},
      • booktitle = {IEEE/CVF Int'l Conf. Computer Vision (ICCV)},
      • year = 2011,
      • pages = {2304--2311},
      • note = {[\href{https://doi.org/10.1109/ICCV.2011.6126511}{doi}]}
      • }

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