José Gaspar

Assistant Professor

Instituto Superior Técnico


Research Interests | Projects | Omnidirectional Vision | Publications | Teaching : MSc / TFCs | Links | Data I/O | Contact Me

Last index.html update: 18-09-2015

Research interests:

Main interests: Visual Navigation and Calibration

Navigation of wheeled, legged or humanoid robots requires keeping some sort of continuous self-calibration based on proprioceptive data combined with vision or inertial sensors. Most approaches rely on exteroception for unknown or dynamic environments or on full environment reconstruction (e.g. SLAM), at the cost of prohibitive computational resources. Instead, we will explore the use of customized vision sensors, topological, appearance-based representations and attention mechanisms to develop efficient navigation systems, with a parsimonious use of hardware and computational resources.
We will further develop the use and design of novel, non-conventional cameras, combining different reflective surfaces with lenses, space-variant imaging, different sensitivity spectra, depth sensing, aggregation of multiple cameras, and active light projection.

Keywords: Computer and Robot Vision, namely 3D information recovery, Visual self-localization and Navigation for mobile robots and Visual Obstacle detection.

Worked/working areas: Networked cameras calibration; Target tracking; Video surveillance; Omnidirectional Vision; Vision-based nonlinear control for unicycle robots; Ground plane obstacle detection; Stereo matching and surface reconstruction.    

Current projects

Past projects

Catadioptric System for Omnidirectional Vision:

Omnidirectional cameras give omni-awareness to mobile robots. This is a principal motivation for all the work we have done, and will continue doing, on omnidirectional sensors. Finding the desired parameters, the required materials and finding lots of help to build it, was the effort that makes really a pleasure to see the labmate performing the first Visual Path Following experiments.

For an extended listing of links to research and commercial omnidirectional cameras you may wish to check the Page of Omnidirectional Vision hosted by the GRASP Laboratory .





  • Automação de Processos Industriais 10, 11, 12, 13, 14, 15
  • Análise de Circuitos 2005/06 1ºSemexemplos utilização PSPICE
  • Análise de Circuitos 2002/03 2ºSem: lab.
  • Teoria de Circuitos 2001/02 1ºSem: lab.
  • Controlo 2005/06 1ºSem
  • Controlo 04, 04b, 05, 05b, 13
  • Controlo-1 2001/02 1ºSem: lab.
  • Controlo, Controlo-1 94b, Controlo-2 96, 97
  • Controlo em Espaço de Estados, 12b
  • Introdução ao Controlo 09, 12
  • Modelação e Simulação 08b
  • Robótica 94
  • Sistemas de Controlo Distribuído em Tempo Real
  • Teoria dos Sinais e Sistemas 94, 95
  • Sistemas e Sinais 14b
  • Processamento de Imagem e Visão 95, 96, 10
  • Visao 2001/02 1ºSem: lab.
  • Visão 93b, 94b, 95b, 96b, 97b, 1997/98 1ºSem: Files...





Data/Files I/O:



Complete address and e-mail:

Instituto de Sistemas e Robótica,
Instituto Superior Técnico, Torre Norte
Av. Rovisco Pais, 1
1049-001 Lisboa, PORTUGAL
Office: Torre Norte do IST, 7.19
phone : +351 21 8418 293
fax : +351 21 8418 291