Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113)
... the fusion of 2-D Laser Range Finder data and odom-etry data for the mapping and the localiza... more ... the fusion of 2-D Laser Range Finder data and odom-etry data for the mapping and the localization of a mobile robot moving in a ... matrix between the laser frame L and the robot frame R . This sensor-based control scheme has been validated with the Robot ANIS developped in ...
INRIA Sophia Antipolis M´editerran´ee, 2004 route des Lucioles, Sophia Antipolis Cedex, Francecyr... more INRIA Sophia Antipolis M´editerran´ee, 2004 route des Lucioles, Sophia Antipolis Cedex, [email protected], [email protected]: Simultaneous Localization and Mapping (SLAM), Smoothing and Mapping (SAM), ExtendedKalman Filter (EKF), Bearing-Only, Inverse Depth RepresentationAbstract: Safe and efficient navigation in large-scale unknown environments remains a key problem whichhas to be solved to improve the autonomy of mobile robots. SLAM methods can bring the mapof the world and the trajectory of the robot. Monucular SLAM is a difficult problem. Currently,it is solved with an Extended Kalman Filter (EKF) using the inverse depth parametrization.However, it is now well known that the EKF-SLAM become inconsistent when dealing with largescale environments. Moreover, the classical inverse depth parametrization is over-parametrized,which can also be a cause of inconsistency. In this paper, we propose to adapt the inverse depthrepresentation to the more robust c...
IEEE/RSJ International Conference on Intelligent Robots and System
In this paper we propose a new approach for visualservoing with respect to a set of 3D straight l... more In this paper we propose a new approach for visualservoing with respect to a set of 3D straight lines. The main difference with respect to previous approaches is that the new scheme can be used with a zooming camera or even if the reference image has been learned with a different camera. The zoom is particularly useful in order to keep the visual features in the camera field of view and/or to bound their size in the image reducing the influence of noise on features extraction. Experiments with a zooming camera have validated the vision-based control law.
This paper describes the different robotics tasks which can be realized using the visual servoing... more This paper describes the different robotics tasks which can be realized using the visual servoing approach. A classification of these tasks, based on the virtual linkage formalism, is proposed and the different properties that the visual features and their related interaction matrix have to satisfy are presented. For the most classical virtual linkages between a camera and its environment, several combinations of visual features are selected. Finally, we recall the application of the task function approach to visual servoing by focusing on automatic control aspects.
This paper presents a new approach to active affine reconstruction without an exact knowledge of ... more This paper presents a new approach to active affine reconstruction without an exact knowledge of the robot's kinematic model nor camera intrinsic parameters. Affine reconstruction from perspective image pairs is easy if the motion of the camera between the two images is a pure translation. If the robot is not well calibrated, a pure translation achieved with an open loop control would lead to a bias in the reconstruction. The problem can be solved by using a 2 1/2 D visual servoing technique in order to close the loop and control the camera trajectory. The affine reconstruction is equivalent to the estimation of the depths of the 3D points of the scene. Thus, affine reconstruction is very useful to implement several visual servoing approaches which need an estimation of the depths.
2013 IEEE International Conference on Image Processing, 2013
The visual 3D reconstruction of transparent objects in unstructured scenes is challenging due to ... more The visual 3D reconstruction of transparent objects in unstructured scenes is challenging due to the complex image formation principles underlying their visual appearance. Most state-of-the-art reconstruction methods ignore this problem and assume Lambertian reflection. Yet, transparent objects are relevant scene information for applications in intelligent robotics (such as grasping) or virtual reality. In this work, we present an approach to detect non-planar transparent objects, like bottles or glasses, by specifically searching for geometry inconsistencies caused by refraction or reflection. Depth information is acquired using a Kinect sensor, which is moved within the scene in order to acquire multiple views. The individual measurements are combined into a 3D volume, yielding the objects' location and a rough shape estimate. Results are presented using various household objects made of glass or plastic.
In this paper, we present a robotic application performed by sequencing visual servoing tasks. Th... more In this paper, we present a robotic application performed by sequencing visual servoing tasks. The theoritical framework used is the sensor-based control for the continuous parts of the application and discrete events system theory for its logical aspects. The design and analysis of the whole system are coherently handled using Orccad concepts. We focus our attention on the programming aspects of these theories and concepts, from application level speci cation up to real-time implementation and results analysis. An effective experimentation on our mobile hand-eye robot validating and illustrating this approach is fully detailed.
Proceedings of the Third AnnualConference of AI, Simulation, and Planning in High Autonomy Syslems 'Integrating Perception, Planning and Action'.
... BibTeX. @INPROCEEDINGS{Rives92reactivemobile, author = {Patrick Rives and Roger Pissard-gibol... more ... BibTeX. @INPROCEEDINGS{Rives92reactivemobile, author = {Patrick Rives and Roger Pissard-gibollet and Inria Sophia and Antipolis Isia ... Conf. on intelligent autonomous systems - P - 1986. 1, JJ Borrelly : Parallel Architecture for Visual Servoing - Martinet, Rives, et al. - 1991. ...
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011
This paper presents a novel approach to self calibrate the extrinsic parameters of a camera mount... more This paper presents a novel approach to self calibrate the extrinsic parameters of a camera mounted on a mobile robot in the context of fusion with the odometry sensor. Calibrating precisely such system can be difficult if the camera is mounted on a vehicule where the frame is difficult to localize precisely (like on a car for example). However, the knowledge of the camera pose in the robot frame is essential in order to make a consistent fusion of the sensor measurements. Our approach is based on a Simultaneous Localization and Mapping (SLAM) framework: the estimation of the parameteres is made when the robot moves in an unknown environment which is only viewed by the camera. First, a study of the observability properties of the system is made in ordrer to charecterize conditions that its inputs have to satisfy to make possible the calibration process. Then, we show on 3 real experimentations with an omnidirectional camera the validity of the conditions and the quality of the estimation of the 3D pose of the camera with respect to the odometry frame.
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014
Navigation in large scale environments is challenging because it requires accurate local map and ... more Navigation in large scale environments is challenging because it requires accurate local map and global relocation ability. We present a new hybrid metric-topological-semantic map structure, called MTS-map, that allows a fine metric-based navigation and fast coarse query-based localisation. It consists of local sub-maps connected through two topological layers at metric and semantic levels. Semantic information is used to build concise local graph-based descriptions of sub-maps. We propose a robust and efficient algorithm that relies on MTS-map structure and semantic description of sub-maps to relocate very fast. We combine the discriminative power of semantics with the robustness of an interpretation tree to compare the graphs very fast and outperform state-of-the-art-techniques. The proposed approach is tested on a challenging dataset composed of more than 13000 real world images where we demonstrate the ability to relocate within 0.12ms.
Depuis leur decouverte, les ecosystemes profonds, tels que les communautes hydrothermales, ont be... more Depuis leur decouverte, les ecosystemes profonds, tels que les communautes hydrothermales, ont beneficie d'un effort important d'exploration, de description et de comprehension. Aujourd'hui, l'enjeu scientifique concerne l'etude de leur dynamique spatiale et temporelle afin d'identifier quels sont les facteurs qui controlent leur structure et leur fonctionnement. Afin de repondre a ce besoin, nous avons developpe - dans le cadre du projet europeen Exocet/D -un systeme optique permettant l'acquisition d'images stereoscopiques sous-marines. Le principe de ce systeme est base sur les techniques de mesure par photogrammetrie et consiste a determiner les coordonnees en trois dimensions d'un point d'un objet a partir de ses projections sur plusieurs images photographiques prises a partir de differentes positions. L'objectif est de realiser la reconstruction tridimensionnelle de structures sous-marines naturelles, rigides et statiques, de petite echelle, de l'ordre du metre cube, ceci a des fins de mesures quantitatives.
Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162), 2000
Page 1. Proceedings of the 2000 IEEE International Conference on Control Applications Anchorage, ... more Page 1. Proceedings of the 2000 IEEE International Conference on Control Applications Anchorage, Alaska, USA September 25-27,2000 TA4-2 950 Visual Servo Control for a Class of Mobile Robot Jos6 R. H. Carvalhot Patrick ...
Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113)
... the fusion of 2-D Laser Range Finder data and odom-etry data for the mapping and the localiza... more ... the fusion of 2-D Laser Range Finder data and odom-etry data for the mapping and the localization of a mobile robot moving in a ... matrix between the laser frame L and the robot frame R . This sensor-based control scheme has been validated with the Robot ANIS developped in ...
INRIA Sophia Antipolis M´editerran´ee, 2004 route des Lucioles, Sophia Antipolis Cedex, Francecyr... more INRIA Sophia Antipolis M´editerran´ee, 2004 route des Lucioles, Sophia Antipolis Cedex, [email protected], [email protected]: Simultaneous Localization and Mapping (SLAM), Smoothing and Mapping (SAM), ExtendedKalman Filter (EKF), Bearing-Only, Inverse Depth RepresentationAbstract: Safe and efficient navigation in large-scale unknown environments remains a key problem whichhas to be solved to improve the autonomy of mobile robots. SLAM methods can bring the mapof the world and the trajectory of the robot. Monucular SLAM is a difficult problem. Currently,it is solved with an Extended Kalman Filter (EKF) using the inverse depth parametrization.However, it is now well known that the EKF-SLAM become inconsistent when dealing with largescale environments. Moreover, the classical inverse depth parametrization is over-parametrized,which can also be a cause of inconsistency. In this paper, we propose to adapt the inverse depthrepresentation to the more robust c...
IEEE/RSJ International Conference on Intelligent Robots and System
In this paper we propose a new approach for visualservoing with respect to a set of 3D straight l... more In this paper we propose a new approach for visualservoing with respect to a set of 3D straight lines. The main difference with respect to previous approaches is that the new scheme can be used with a zooming camera or even if the reference image has been learned with a different camera. The zoom is particularly useful in order to keep the visual features in the camera field of view and/or to bound their size in the image reducing the influence of noise on features extraction. Experiments with a zooming camera have validated the vision-based control law.
This paper describes the different robotics tasks which can be realized using the visual servoing... more This paper describes the different robotics tasks which can be realized using the visual servoing approach. A classification of these tasks, based on the virtual linkage formalism, is proposed and the different properties that the visual features and their related interaction matrix have to satisfy are presented. For the most classical virtual linkages between a camera and its environment, several combinations of visual features are selected. Finally, we recall the application of the task function approach to visual servoing by focusing on automatic control aspects.
This paper presents a new approach to active affine reconstruction without an exact knowledge of ... more This paper presents a new approach to active affine reconstruction without an exact knowledge of the robot's kinematic model nor camera intrinsic parameters. Affine reconstruction from perspective image pairs is easy if the motion of the camera between the two images is a pure translation. If the robot is not well calibrated, a pure translation achieved with an open loop control would lead to a bias in the reconstruction. The problem can be solved by using a 2 1/2 D visual servoing technique in order to close the loop and control the camera trajectory. The affine reconstruction is equivalent to the estimation of the depths of the 3D points of the scene. Thus, affine reconstruction is very useful to implement several visual servoing approaches which need an estimation of the depths.
2013 IEEE International Conference on Image Processing, 2013
The visual 3D reconstruction of transparent objects in unstructured scenes is challenging due to ... more The visual 3D reconstruction of transparent objects in unstructured scenes is challenging due to the complex image formation principles underlying their visual appearance. Most state-of-the-art reconstruction methods ignore this problem and assume Lambertian reflection. Yet, transparent objects are relevant scene information for applications in intelligent robotics (such as grasping) or virtual reality. In this work, we present an approach to detect non-planar transparent objects, like bottles or glasses, by specifically searching for geometry inconsistencies caused by refraction or reflection. Depth information is acquired using a Kinect sensor, which is moved within the scene in order to acquire multiple views. The individual measurements are combined into a 3D volume, yielding the objects' location and a rough shape estimate. Results are presented using various household objects made of glass or plastic.
In this paper, we present a robotic application performed by sequencing visual servoing tasks. Th... more In this paper, we present a robotic application performed by sequencing visual servoing tasks. The theoritical framework used is the sensor-based control for the continuous parts of the application and discrete events system theory for its logical aspects. The design and analysis of the whole system are coherently handled using Orccad concepts. We focus our attention on the programming aspects of these theories and concepts, from application level speci cation up to real-time implementation and results analysis. An effective experimentation on our mobile hand-eye robot validating and illustrating this approach is fully detailed.
Proceedings of the Third AnnualConference of AI, Simulation, and Planning in High Autonomy Syslems 'Integrating Perception, Planning and Action'.
... BibTeX. @INPROCEEDINGS{Rives92reactivemobile, author = {Patrick Rives and Roger Pissard-gibol... more ... BibTeX. @INPROCEEDINGS{Rives92reactivemobile, author = {Patrick Rives and Roger Pissard-gibollet and Inria Sophia and Antipolis Isia ... Conf. on intelligent autonomous systems - P - 1986. 1, JJ Borrelly : Parallel Architecture for Visual Servoing - Martinet, Rives, et al. - 1991. ...
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011
This paper presents a novel approach to self calibrate the extrinsic parameters of a camera mount... more This paper presents a novel approach to self calibrate the extrinsic parameters of a camera mounted on a mobile robot in the context of fusion with the odometry sensor. Calibrating precisely such system can be difficult if the camera is mounted on a vehicule where the frame is difficult to localize precisely (like on a car for example). However, the knowledge of the camera pose in the robot frame is essential in order to make a consistent fusion of the sensor measurements. Our approach is based on a Simultaneous Localization and Mapping (SLAM) framework: the estimation of the parameteres is made when the robot moves in an unknown environment which is only viewed by the camera. First, a study of the observability properties of the system is made in ordrer to charecterize conditions that its inputs have to satisfy to make possible the calibration process. Then, we show on 3 real experimentations with an omnidirectional camera the validity of the conditions and the quality of the estimation of the 3D pose of the camera with respect to the odometry frame.
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014
Navigation in large scale environments is challenging because it requires accurate local map and ... more Navigation in large scale environments is challenging because it requires accurate local map and global relocation ability. We present a new hybrid metric-topological-semantic map structure, called MTS-map, that allows a fine metric-based navigation and fast coarse query-based localisation. It consists of local sub-maps connected through two topological layers at metric and semantic levels. Semantic information is used to build concise local graph-based descriptions of sub-maps. We propose a robust and efficient algorithm that relies on MTS-map structure and semantic description of sub-maps to relocate very fast. We combine the discriminative power of semantics with the robustness of an interpretation tree to compare the graphs very fast and outperform state-of-the-art-techniques. The proposed approach is tested on a challenging dataset composed of more than 13000 real world images where we demonstrate the ability to relocate within 0.12ms.
Depuis leur decouverte, les ecosystemes profonds, tels que les communautes hydrothermales, ont be... more Depuis leur decouverte, les ecosystemes profonds, tels que les communautes hydrothermales, ont beneficie d'un effort important d'exploration, de description et de comprehension. Aujourd'hui, l'enjeu scientifique concerne l'etude de leur dynamique spatiale et temporelle afin d'identifier quels sont les facteurs qui controlent leur structure et leur fonctionnement. Afin de repondre a ce besoin, nous avons developpe - dans le cadre du projet europeen Exocet/D -un systeme optique permettant l'acquisition d'images stereoscopiques sous-marines. Le principe de ce systeme est base sur les techniques de mesure par photogrammetrie et consiste a determiner les coordonnees en trois dimensions d'un point d'un objet a partir de ses projections sur plusieurs images photographiques prises a partir de differentes positions. L'objectif est de realiser la reconstruction tridimensionnelle de structures sous-marines naturelles, rigides et statiques, de petite echelle, de l'ordre du metre cube, ceci a des fins de mesures quantitatives.
Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162), 2000
Page 1. Proceedings of the 2000 IEEE International Conference on Control Applications Anchorage, ... more Page 1. Proceedings of the 2000 IEEE International Conference on Control Applications Anchorage, Alaska, USA September 25-27,2000 TA4-2 950 Visual Servo Control for a Class of Mobile Robot Jos6 R. H. Carvalhot Patrick ...
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