Dans plusieurs tâches de la robotique, la vision est considérée comme l’élément essentiel avec le... more Dans plusieurs tâches de la robotique, la vision est considérée comme l’élément essentiel avec lequel la perception de l’environnement ou l’interaction avec d’autres utilisateurs peut se réaliser. Néanmoins, les artefacts potentiellement présents dans les images capturées rendent la tâche de reconnaissance et d’interprétation de l’information visuelle extrêmement compliquée. Il est de ce fait, très important d’utiliser des primitives robustes, stables et ayant un taux de répétabilité élevé afin d’obtenir de bonnes performances. Cette thèse porte sur les problèmes de localisation et de détection de fermeture de boucle d’un robot mobile en utilisant la saillance visuelle. Les résultats en termes de précision et d’efficacité des applications de localisation et de détection de fermeture sont évalués et comparés aux résultats obtenus avec des approches de l’état de l’art sur différentes séquences d’images acquises en milieu extérieur. Le principal inconvénient avec les modèles proposés p...
A smartphone is a low-cost pocket wireless multichannel multiphysical data acquisition system: th... more A smartphone is a low-cost pocket wireless multichannel multiphysical data acquisition system: the use of such a device for noise and vibration analysis is a challenging task. To what extent is it possible to carry out relevant analysis from it? The Survishno conference, held in Lyon in July 2019, proposed a contest to participants based on this subject. Two challenges were proposed, wherein each a mute video showing an object moving/excited at different frequencies was provided. Due to the frequencies set and the video sampling characteristics, special effects occurred and are visible on both videos. From the first video, participants were asked to estimate the Instantaneous Angular Speed (IAS) of a rotating fan. From the second video, they were asked to perform the modal analysis of a cantilever beam. This paper gathers the interesting ideas proposed by the contestants and proposes a global method to solve these two problems. One major point of the paper might be the advantageous use of the rolling shutter effect, a well-known artefact of smartphone videos, to perform advanced mechanical analyses: the consideration of the unavoidable slight phase shift between the acquisition of each pixel opens up the possibility to perform a dynamic analysis at frequencies that are much higher than the video frame rate.
This paper presents a visual odometry method that estimates the location and orientation of a rob... more This paper presents a visual odometry method that estimates the location and orientation of a robot. The visual odometry approach is based on the Fourier transform, which extracts the translation between consecutive image’s regions captured using a ground-facing camera. The proposed method is especially suited if no distinct visual features are present on the ground. This approach is resistant to wheel slippage because it is independent of the kinematics of the vehicle. The method has been tested on different experimental platforms and evaluated against the ground truth, including a successful loop-closing test, to demonstrate its general use and performance.
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014
Loop-closure detection, which is the ability to recognize a previously visited place, is of prima... more Loop-closure detection, which is the ability to recognize a previously visited place, is of primary importance for robotic localization and navigation problems. We here introduce SAIL-MAP, a method for loop-closure detection based on vision only, applied to topological simultaneous localization and mapping (SLAM). Our method allows the matching of camera images using a novel saliency-based feature detector and descriptor. These features have been designed to benefit from the robustness to viewpoint change and image perturbations of bio-inspired saliency algorithms. Additionally, the same algorithm is used for the detector and descriptor. The results obtained on different large-scale data sets demonstrate the efficiency of the proposed solution for localization problems.
2019 20th International Conference on Research and Education in Mechatronics (REM), 2019
In this paper the challenge of improving throughput in additive manufacturing and other laser-bas... more In this paper the challenge of improving throughput in additive manufacturing and other laser-based manufacturing processes is addressed. It is the main obstacle, for industries using these processes, to market position themselves with regards to conventional material processing technologies. A key component affecting throughput, besides the material alteration process itself, is the laser scanner controlling the laser spot position.In this paper, a new model-based methodology to improve the performance of such laser scanners is proposed. This methodology consists of two main steps: (1) identification of a high-fidelity model of the laser scanner quantifying its dynamics (2) design of a model-based feedforward controller improving performance beyond conventional control. This methodology is implemented and validated using an industrial setup equipped with an open controller for additive manufacturing machines, an industrial laser scanner and a camera based monitoring system that all...
Dans plusieurs tâches de la robotique, la vision est consideree comme l’element essentiel avec le... more Dans plusieurs tâches de la robotique, la vision est consideree comme l’element essentiel avec lequel la perception de l’environnement ou l’interaction avec d’autres utilisateurs peut se realiser. Neanmoins, les artefacts potentiellement presents dans les images capturees rendent la tâche de reconnaissance et d’interpretation de l’information visuelle extremement compliquee. Il est de ce fait, tres important d’utiliser des primitives robustes, stables et ayant un taux de repetabilite eleve afin d’obtenir de bonnes performances. Cette these porte sur les problemes de localisation et de detection de fermeture de boucle d’un robot mobile en utilisant la saillance visuelle. Les resultats en termes de precision et d’efficacite des applications de localisation et de detection de fermeture sont evalues et compares aux resultats obtenus avec des approches de l’etat de l’art sur differentes sequences d’images acquises en milieu exterieur. Le principal inconvenient avec les modeles proposes p...
2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC), 2017
In the current context of autonomous or assisted driving, reliable pedestrian detection plays one... more In the current context of autonomous or assisted driving, reliable pedestrian detection plays one of the key roles in performing situation awareness tasks. In this paper we propose a new method for pedestrian tracking based on hybrid sensor fusion. Pedestrian detection and tracking based on a single feature type cannot always achieve the desired performance, especially in low visibility conditions. To improve the pedestrian detection rate, in this paper we propose a method for high-level decision fusion based on the detection outputs from multiple cameras. Low-level processing entails the capture, calibration and registration steps. The high-level processing consists of pedestrian detection, tracking of the detected pedestrians, and fusing the tracking outputs into a common multi-camera view. By relying on parallel tracks we are able to detect objects and follow them more efficiently without losing track. Moreover, each target receives specific signature which serves as an identific...
2012 IEEE International Symposium on Circuits and Systems, 2012
In these last years a new category of sensor is appearing. It has the name of intelligent sensor ... more In these last years a new category of sensor is appearing. It has the name of intelligent sensor or smart sensor. This paper focuses on smart camera used in the field of robotics and more precisely in the extraction of features. Object tracking, autonomous navigation or 3D mapping are some application examples. The feature chosen is, the interest points that can be detected by several algorithms. Among these algorithms we have the Harris & Stephen that has a simple principle based on the calculations of multiples derivatives and who gives acceptable results. The smart camera has beside the camera an FPGA, the detection of the interest points algorithm's will be implemented on this FPGA. Other modules were added to the system to deliver more appropriate results.
DreamCam is a modular smart camera constructed with the use of an FPGA like main processing board... more DreamCam is a modular smart camera constructed with the use of an FPGA like main processing board. The core of the camera is an Altera Cyclone-III associated with a CMOS imager and six private Ram blocks. The main novel feature of our work consists in proposing a new smart camera architecture and several modules (IP) to efficiently extract and sort the visual features in real time. In this paper, extraction is performed by a Harris and Stephen filtering associated with customized modules. These modules extract, select and sort visual features in real-time. As a result, DreamCam (with such a configuration) provides a description of each visual feature in the form of its position and the grey-level template around it.
Dans plusieurs tâches de la robotique, la vision est considérée comme l’élément essentiel avec le... more Dans plusieurs tâches de la robotique, la vision est considérée comme l’élément essentiel avec lequel la perception de l’environnement ou l’interaction avec d’autres utilisateurs peut se réaliser. Néanmoins, les artefacts potentiellement présents dans les images capturées rendent la tâche de reconnaissance et d’interprétation de l’information visuelle extrêmement compliquée. Il est de ce fait, très important d’utiliser des primitives robustes, stables et ayant un taux de répétabilité élevé afin d’obtenir de bonnes performances. Cette thèse porte sur les problèmes de localisation et de détection de fermeture de boucle d’un robot mobile en utilisant la saillance visuelle. Les résultats en termes de précision et d’efficacité des applications de localisation et de détection de fermeture sont évalués et comparés aux résultats obtenus avec des approches de l’état de l’art sur différentes séquences d’images acquises en milieu extérieur. Le principal inconvénient avec les modèles proposés p...
A smartphone is a low-cost pocket wireless multichannel multiphysical data acquisition system: th... more A smartphone is a low-cost pocket wireless multichannel multiphysical data acquisition system: the use of such a device for noise and vibration analysis is a challenging task. To what extent is it possible to carry out relevant analysis from it? The Survishno conference, held in Lyon in July 2019, proposed a contest to participants based on this subject. Two challenges were proposed, wherein each a mute video showing an object moving/excited at different frequencies was provided. Due to the frequencies set and the video sampling characteristics, special effects occurred and are visible on both videos. From the first video, participants were asked to estimate the Instantaneous Angular Speed (IAS) of a rotating fan. From the second video, they were asked to perform the modal analysis of a cantilever beam. This paper gathers the interesting ideas proposed by the contestants and proposes a global method to solve these two problems. One major point of the paper might be the advantageous use of the rolling shutter effect, a well-known artefact of smartphone videos, to perform advanced mechanical analyses: the consideration of the unavoidable slight phase shift between the acquisition of each pixel opens up the possibility to perform a dynamic analysis at frequencies that are much higher than the video frame rate.
This paper presents a visual odometry method that estimates the location and orientation of a rob... more This paper presents a visual odometry method that estimates the location and orientation of a robot. The visual odometry approach is based on the Fourier transform, which extracts the translation between consecutive image’s regions captured using a ground-facing camera. The proposed method is especially suited if no distinct visual features are present on the ground. This approach is resistant to wheel slippage because it is independent of the kinematics of the vehicle. The method has been tested on different experimental platforms and evaluated against the ground truth, including a successful loop-closing test, to demonstrate its general use and performance.
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014
Loop-closure detection, which is the ability to recognize a previously visited place, is of prima... more Loop-closure detection, which is the ability to recognize a previously visited place, is of primary importance for robotic localization and navigation problems. We here introduce SAIL-MAP, a method for loop-closure detection based on vision only, applied to topological simultaneous localization and mapping (SLAM). Our method allows the matching of camera images using a novel saliency-based feature detector and descriptor. These features have been designed to benefit from the robustness to viewpoint change and image perturbations of bio-inspired saliency algorithms. Additionally, the same algorithm is used for the detector and descriptor. The results obtained on different large-scale data sets demonstrate the efficiency of the proposed solution for localization problems.
2019 20th International Conference on Research and Education in Mechatronics (REM), 2019
In this paper the challenge of improving throughput in additive manufacturing and other laser-bas... more In this paper the challenge of improving throughput in additive manufacturing and other laser-based manufacturing processes is addressed. It is the main obstacle, for industries using these processes, to market position themselves with regards to conventional material processing technologies. A key component affecting throughput, besides the material alteration process itself, is the laser scanner controlling the laser spot position.In this paper, a new model-based methodology to improve the performance of such laser scanners is proposed. This methodology consists of two main steps: (1) identification of a high-fidelity model of the laser scanner quantifying its dynamics (2) design of a model-based feedforward controller improving performance beyond conventional control. This methodology is implemented and validated using an industrial setup equipped with an open controller for additive manufacturing machines, an industrial laser scanner and a camera based monitoring system that all...
Dans plusieurs tâches de la robotique, la vision est consideree comme l’element essentiel avec le... more Dans plusieurs tâches de la robotique, la vision est consideree comme l’element essentiel avec lequel la perception de l’environnement ou l’interaction avec d’autres utilisateurs peut se realiser. Neanmoins, les artefacts potentiellement presents dans les images capturees rendent la tâche de reconnaissance et d’interpretation de l’information visuelle extremement compliquee. Il est de ce fait, tres important d’utiliser des primitives robustes, stables et ayant un taux de repetabilite eleve afin d’obtenir de bonnes performances. Cette these porte sur les problemes de localisation et de detection de fermeture de boucle d’un robot mobile en utilisant la saillance visuelle. Les resultats en termes de precision et d’efficacite des applications de localisation et de detection de fermeture sont evalues et compares aux resultats obtenus avec des approches de l’etat de l’art sur differentes sequences d’images acquises en milieu exterieur. Le principal inconvenient avec les modeles proposes p...
2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC), 2017
In the current context of autonomous or assisted driving, reliable pedestrian detection plays one... more In the current context of autonomous or assisted driving, reliable pedestrian detection plays one of the key roles in performing situation awareness tasks. In this paper we propose a new method for pedestrian tracking based on hybrid sensor fusion. Pedestrian detection and tracking based on a single feature type cannot always achieve the desired performance, especially in low visibility conditions. To improve the pedestrian detection rate, in this paper we propose a method for high-level decision fusion based on the detection outputs from multiple cameras. Low-level processing entails the capture, calibration and registration steps. The high-level processing consists of pedestrian detection, tracking of the detected pedestrians, and fusing the tracking outputs into a common multi-camera view. By relying on parallel tracks we are able to detect objects and follow them more efficiently without losing track. Moreover, each target receives specific signature which serves as an identific...
2012 IEEE International Symposium on Circuits and Systems, 2012
In these last years a new category of sensor is appearing. It has the name of intelligent sensor ... more In these last years a new category of sensor is appearing. It has the name of intelligent sensor or smart sensor. This paper focuses on smart camera used in the field of robotics and more precisely in the extraction of features. Object tracking, autonomous navigation or 3D mapping are some application examples. The feature chosen is, the interest points that can be detected by several algorithms. Among these algorithms we have the Harris & Stephen that has a simple principle based on the calculations of multiples derivatives and who gives acceptable results. The smart camera has beside the camera an FPGA, the detection of the interest points algorithm's will be implemented on this FPGA. Other modules were added to the system to deliver more appropriate results.
DreamCam is a modular smart camera constructed with the use of an FPGA like main processing board... more DreamCam is a modular smart camera constructed with the use of an FPGA like main processing board. The core of the camera is an Altera Cyclone-III associated with a CMOS imager and six private Ram blocks. The main novel feature of our work consists in proposing a new smart camera architecture and several modules (IP) to efficiently extract and sort the visual features in real time. In this paper, extraction is performed by a Harris and Stephen filtering associated with customized modules. These modules extract, select and sort visual features in real-time. As a result, DreamCam (with such a configuration) provides a description of each visual feature in the form of its position and the grey-level template around it.
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