Publications

2026

Gravity-Aware Partially Calibrated Absolute Pose Estimation from Affine or Rotation-Covariant Features

M. V. Örnhag, A. Jaenal, S. Adalbjörnsson

ECCV 2026 Spotlight European Conference on Computer Vision (ECCV), pp. 336–354

@inproceedings{ornhag2026gravity,
  title     = {Gravity-Aware Partially Calibrated Absolute Pose Estimation from Affine or Rotation-Covariant Features},
  author    = {M. V. Örnhag and A. Jaenal and S. Adalbjörnsson},
  booktitle = {European Conference on Computer Vision (ECCV)},
  year      = {2026},
  doi       = {10.1007/978-3-032-37211-6_19}
}

2025

Towards Visual Localization Interoperability: Cross-Feature for Collaborative Visual Localization and Mapping

A. Jaenal, P. C. Cubero, J. Araujo, A. Mateus

ICCV 2025 IEEE/CVF International Conference on Computer Vision (ICCV), pp. 26783-26792

DOI Code

@inproceedings{jaenal2025towards,
  title     = {Towards Visual Localization Interoperability: Cross-Feature for Collaborative Visual Localization and Mapping},
  author    = {A. Jaenal and P. C. Cubero and J. Araujo and A. Mateus},
  booktitle = {IEEE/CVF International Conference on Computer Vision (ICCV)},
  year      = {2025},
  doi       = {10.1109/ICCV51701.2025.02486}
}

ColabSfM: Collaborative Structure-from-Motion by Point Cloud Registration

J. Edstedt, A. Jaenal, A. Mateus

CVPR 2025 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), pp. 6573-6583

DOI Code

@inproceedings{edstedt2025colabsfm,
  title     = {ColabSfM: Collaborative Structure-from-Motion by Point Cloud Registration},
  author    = {J. Edstedt and A. Jaenal and A. Mateus},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  year      = {2025},
  doi       = {10.1109/CVPR52734.2025.00616}
}

Cross-Detector Visual Localization with Coplanarity Constraints for Indoor Environments

J.L. Matez-Bandera, A. Jaenal, C. Gomez, A. C. Hernandez, J. Monroy, J. Araujo, J. Gonzalez-Jimenez

Sensors 2025 MDPI Sensors

DOI Code

@article{matez2025cross,
  title     = {Cross-Detector Visual Localization with Coplanarity Constraints for Indoor Environments},
  author    = {J.L. Matez-Bandera and A. Jaenal and C. Gomez and A. C. Hernandez and J. Monroy and J. Araujo and J. Gonzalez-Jimenez},
  journal   = {MDPI Sensors},
  year      = {2025},
  doi       = {10.3390/s25247593}
}

2024

Leveraging Scale- and Orientation-Covariant Features for Planar Motion Estimation

M. V. Örnhag, A. Jaenal

ECCV 2024 European Conference on Computer Vision (ECCV), pp. 418-434

DOI Code

@inproceedings{ornhag2024leveraging,
  title     = {Leveraging Scale- and Orientation-Covariant Features for Planar Motion Estimation},
  author    = {M. V. Örnhag and A. Jaenal},
  booktitle = {European Conference on Computer Vision (ECCV)},
  year      = {2024},
  doi       = {10.1007/978-3-031-72949-2_24}
}

MachNet, a General Deep Learning Architecture for Predictive Maintenance within the Industry 4.0 Paradigm

A. Jaenal, J.R. Ruiz-Sarmiento, J. Gonzalez-Jimenez

EAAI 2024 Q1 Engineering Applications of Artificial Intelligence, vol. 127, 107365

DOI

@article{jaenal2024machnet,
  title     = {MachNet, a General Deep Learning Architecture for Predictive Maintenance within the Industry 4.0 Paradigm},
  author    = {A. Jaenal and J.R. Ruiz-Sarmiento and J. Gonzalez-Jimenez},
  journal   = {Engineering Applications of Artificial Intelligence},
  year      = {2024},
  doi       = {10.1016/j.engappai.2023.107365}
}

2023

Sequential Monte Carlo Localization in Topometric Appearance Maps

A. Jaenal, F.A. Moreno, J. Gonzalez-Jimenez

IJRR 2023 Q1 The International Journal of Robotics Research

DOI Code

@article{jaenal2023sequential,
  title     = {Sequential Monte Carlo Localization in Topometric Appearance Maps},
  author    = {A. Jaenal and F.A. Moreno and J. Gonzalez-Jimenez},
  journal   = {The International Journal of Robotics Research},
  year      = {2023},
  doi       = {10.1177/02783649231197723}
}

Appearance-based Localization

A. Jaenal

PhD Thesis, University of Málaga, Supervisors: F.A. Moreno, J. Gonzalez-Jimenez · Cum Laude, Extraordinary Award, 2023

Link
```
@phdthesis{jaenal2023appearance,
  title     = {Appearance-based Localization},
  author    = {A. Jaenal},
  school    = {University of Málaga},
  year      = {2023}
}
```

2022

Robot@VirtualHome, an Ecosystem of Virtual Environments and Tools for Realistic Indoor Robotic Simulation

D. Fernandez-Chaves, J.R. Ruiz-Sarmiento, A. Jaenal, N. Petkov, J. Gonzalez-Jimenez

ESWA 2022 Q1 Expert Systems with Applications, vol. 208, 117970

Code

@article{fernandez2022robot,
  title     = {Robot@VirtualHome, an Ecosystem of Virtual Environments and Tools for Realistic Indoor Robotic Simulation},
  author    = {D. Fernandez-Chaves and J.R. Ruiz-Sarmiento and A. Jaenal and N. Petkov and J. Gonzalez-Jimenez},
  journal   = {Expert Systems with Applications},
  year      = {2022}
}

Unsupervised Appearance Map Abstraction for Indoor Visual Place Recognition With Mobile Robots

A. Jaenal, F.A. Moreno, J. Gonzalez-Jimenez

RA-L 2022 IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 8495-8501

DOI Code

@article{jaenal2022unsupervised,
  title     = {Unsupervised Appearance Map Abstraction for Indoor Visual Place Recognition With Mobile Robots},
  author    = {A. Jaenal and F.A. Moreno and J. Gonzalez-Jimenez},
  journal   = {IEEE Robotics and Automation Letters},
  year      = {2022},
  doi       = {10.1109/LRA.2022.3186768}
}

Dimensionality Reduction in Images for Appearance-based Camera Localization

S. Luengo, A. Jaenal, F.A. Moreno, J. Gonzalez-Jimenez

XLIII Jornadas de Automática, Logroño, Spain, 2022

DOI

@inproceedings{luengo2022dimensionality,
  title     = {Dimensionality Reduction in Images for Appearance-based Camera Localization},
  author    = {S. Luengo and A. Jaenal and F.A. Moreno and J. Gonzalez-Jimenez},
  booktitle = {XLIII Jornadas de Automática},
  year      = {2022},
  doi       = {10.17979/spudc.9788497498418}
}

2021

Appearance-Based Sequential Robot Localization Using a Patchwise Approximation of a Descriptor Manifold

A. Jaenal, F.A. Moreno, J. Gonzalez-Jimenez

Sensors 2021 Q1 MDPI Sensors, vol. 21, no. 7, 2483

DOI

@article{jaenal2021appearance,
  title     = {Appearance-Based Sequential Robot Localization Using a Patchwise Approximation of a Descriptor Manifold},
  author    = {A. Jaenal and F.A. Moreno and J. Gonzalez-Jimenez},
  journal   = {MDPI Sensors},
  year      = {2021},
  doi       = {10.3390/s21072483}
}

Experimental Analysis of Appearance Maps as Descriptor Manifolds Approximations

A. Jaenal, F.A. Moreno, J. Gonzalez-Jimenez

CAIP 2021 Computer Analysis of Images and Patterns (CAIP), pp. 109-119

DOI

@incollection{jaenal2021experimental,
  title     = {Experimental Analysis of Appearance Maps as Descriptor Manifolds Approximations},
  author    = {A. Jaenal and F.A. Moreno and J. Gonzalez-Jimenez},
  booktitle = {Computer Analysis of Images and Patterns (CAIP)},
  year      = {2021},
  doi       = {10.1007/978-3-030-89131-2_10}
}

2020

The UMA-VI Dataset: Visual–Inertial Odometry in Low-Textured and Dynamic Illumination Environments

D. Zuniga-Noel, A. Jaenal, R. Gomez-Ojeda, J. Gonzalez-Jimenez

IJRR 2020 The International Journal of Robotics Research

DOI Code

@article{zuniga2020the,
  title     = {The UMA-VI Dataset: Visual–Inertial Odometry in Low-Textured and Dynamic Illumination Environments},
  author    = {D. Zuniga-Noel and A. Jaenal and R. Gomez-Ojeda and J. Gonzalez-Jimenez},
  journal   = {The International Journal of Robotics Research},
  year      = {2020},
  doi       = {10.1177/0278364920938439}
}

Improving Visual SLAM in Car-Navigated Urban Environments with Appearance Maps

A. Jaenal, D. Zuniga-Noel, R. Gomez-Ojeda, J. Gonzalez-Jimenez

IROS 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4679-4685

DOI

@inproceedings{jaenal2020improving,
  title     = {Improving Visual SLAM in Car-Navigated Urban Environments with Appearance Maps},
  author    = {A. Jaenal and D. Zuniga-Noel and R. Gomez-Ojeda and J. Gonzalez-Jimenez},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year      = {2020},
  doi       = {10.1109/IROS45743.2020.9341451}
}

2019

Urban Monitoring of Unpleasant Odors with a Handheld Electronic Nose

A. Gongora, A. Jaenal, D. Fernandez-Chaves, J. Monroy, J. Gonzalez-Jimenez

ISOEN 2019 ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN), Fukuoka, Japan

DOI

@inproceedings{gongora2019urban,
  title     = {Urban Monitoring of Unpleasant Odors with a Handheld Electronic Nose},
  author    = {A. Gongora and A. Jaenal and D. Fernandez-Chaves and J. Monroy and J. Gonzalez-Jimenez},
  booktitle = {ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN)},
  year      = {2019},
  doi       = {10.1109/ISOEN.2019.8823219}
}

Experimental Study of the Suitability of CNN-based Holistic Descriptors for Accurate Visual Localization

A. Jaenal, F.A. Moreno, J. Gonzalez-Jimenez

APPIS 2019 International Conference on Applications of Intelligent Systems (APPIS), Las Palmas de Gran Canaria, Spain, pp. 28:1-28:6

DOI

@inproceedings{jaenal2019experimental,
  title     = {Experimental Study of the Suitability of CNN-based Holistic Descriptors for Accurate Visual Localization},
  author    = {A. Jaenal and F.A. Moreno and J. Gonzalez-Jimenez},
  booktitle = {International Conference on Applications of Intelligent Systems (APPIS)},
  year      = {2019},
  doi       = {10.1145/3309772.3309800}
}

2018

Toward the Generation of Smell Maps: Matching Electro-Chemical Sensor Information with Human Odor Perception

A. Gongora, D. Fernandez-Chaves, A. Jaenal, J. Monroy, J. Gonzalez-Jimenez

APPIS 2018 International Conference on Applications of Intelligent Systems (APPIS), Las Palmas de Gran Canaria, Spain

@inproceedings{gongora2018toward,
  title     = {Toward the Generation of Smell Maps: Matching Electro-Chemical Sensor Information with Human Odor Perception},
  author    = {A. Gongora and D. Fernandez-Chaves and A. Jaenal and J. Monroy and J. Gonzalez-Jimenez},
  booktitle = {International Conference on Applications of Intelligent Systems (APPIS)},
  year      = {2018}
}

Toward the Generation of Smell Maps: Matching Electro-Chemical Sensor Information with Human Odor Perception

A. Gongora, D. Fernandez-Chaves, A. Jaenal, J. Monroy, J. Gonzalez-Jimenez

FAIA 2018 Frontiers in Artificial Intelligence and Applications (FAIA), IOS Press, pp. 134-145

DOI

@incollection{gongora2018toward,
  title     = {Toward the Generation of Smell Maps: Matching Electro-Chemical Sensor Information with Human Odor Perception},
  author    = {A. Gongora and D. Fernandez-Chaves and A. Jaenal and J. Monroy and J. Gonzalez-Jimenez},
  booktitle = {Frontiers in Artificial Intelligence and Applications (FAIA), IOS Press},
  year      = {2018},
  doi       = {10.3233/978-1-61499-929-4-134}
}