This is paper describe a new method to built up a 3D geometrical model of objects from a single i... more This is paper describe a new method to built up a 3D geometrical model of objects from a single image. This method is based on a new concept, namely cylindrical projective geometry. This geometry enables one to compute automatically the shape of objects with axial symmetry using only one image of the object without any knowledge about the camera used. The mathematics of the concept are shown as well as their use in the modeling process. Some results are presented to show the efficiency and accuracy of our method
... waphic rendering : IV ~ wi~P a.cliieve navigation 11y upclat,iiig two of the graphic c-arnera... more ... waphic rendering : IV ~ wi~P a.cliieve navigation 11y upclat,iiig two of the graphic c-arnera parameters (the camera. position a.nd he camera point of view). The ca.iiiera position is liscxl (acxrorcling t.0 t,he VE st,a.tic frame) at t,he be-t,or ryes posit,ion, or at, t,o ail a jproximative ...
This paper presents a new approach to solve multi robot simultaneous localization and mapping (SL... more This paper presents a new approach to solve multi robot simultaneous localization and mapping (SLAM) problem by allowing fast and efficient features exchange among teammates. Each mate is able to build its own SLAM solution by using feature based Rao-Blackwellised Particle Filter algorithm. This scheme proposes that every feature extracted by individual mate should be shared with all team mates no matter that some features are viewed by more than one member. As the information exchange comprises only on small features set so the time taken to accommodate the information is small which makes it a good solution for distributed multi-robot system working with limited communication range and bandwidth. This paper presents experimental results for two different environments by using different platforms.
This preliminary study looks into how visual information affects motion planning in a gravitation... more This preliminary study looks into how visual information affects motion planning in a gravitational environment. Recently, it has been shown that goal-directed tasks, e.g. simple pointing actions, are performed using a combination of a priori knowledge and closed-loop information, coming from proprioceptive-vestibular and visual feedback. In particular it has been observed that visual information is used by the central nervous system to reorganize motor planning when visuo-motor conflicts occur. The aim of our work is to investigate deeper the contribution of the visual channel in motor planning by means of virtual reality tools. Indeed, virtual reality technology is used here to modify the nature of visual input, leading to test several scenarios from minimalist and impoverished scenes to fully immersive and realistic environments. In fact we want to understand how the richness of the visual information is relevant in influencing our motor planning. We describe here our experimental setup and protocols. Moreover we present some preliminary results and we discuss the ongoing developments.
... We choose the thumb to be the CH. The hand control frame was linked to the 1009 Page 4. opera... more ... We choose the thumb to be the CH. The hand control frame was linked to the 1009 Page 4. operator virtual thumb. It was represented by an XYZ red frame, see Fig. 2. To keep this functionality, one of each robot gripper fingertips was candidate to correspond to the thumb. ...
Cette thèse porte sur l'utilisation de la vision en robotique mobile. Deux principau... more Cette thèse porte sur l'utilisation de la vision en robotique mobile. Deux principaux thèmes sont abordés. D'une part nous traitons du problème de la reconstruction géométrique d'une scène polyédrique en utilisant l'analyse de séquence d'images(l'extraction des droites 3 D ...
The possibilities of communication by gestures with the machines have been improved with the appe... more The possibilities of communication by gestures with the machines have been improved with the appearance of the instrumented gloves, provided with many sensors measuring the angles of the articulations and the position of the hand in space. Unfortunately, such gloves are still ...
This is paper describe a new method to built up a 3D geometrical model of objects from a single i... more This is paper describe a new method to built up a 3D geometrical model of objects from a single image. This method is based on a new concept, namely cylindrical projective geometry. This geometry enables one to compute automatically the shape of objects with axial symmetry using only one image of the object without any knowledge about the camera used. The mathematics of the concept are shown as well as their use in the modeling process. Some results are presented to show the efficiency and accuracy of our method
... waphic rendering : IV ~ wi~P a.cliieve navigation 11y upclat,iiig two of the graphic c-arnera... more ... waphic rendering : IV ~ wi~P a.cliieve navigation 11y upclat,iiig two of the graphic c-arnera parameters (the camera. position a.nd he camera point of view). The ca.iiiera position is liscxl (acxrorcling t.0 t,he VE st,a.tic frame) at t,he be-t,or ryes posit,ion, or at, t,o ail a jproximative ...
This paper presents a new approach to solve multi robot simultaneous localization and mapping (SL... more This paper presents a new approach to solve multi robot simultaneous localization and mapping (SLAM) problem by allowing fast and efficient features exchange among teammates. Each mate is able to build its own SLAM solution by using feature based Rao-Blackwellised Particle Filter algorithm. This scheme proposes that every feature extracted by individual mate should be shared with all team mates no matter that some features are viewed by more than one member. As the information exchange comprises only on small features set so the time taken to accommodate the information is small which makes it a good solution for distributed multi-robot system working with limited communication range and bandwidth. This paper presents experimental results for two different environments by using different platforms.
This preliminary study looks into how visual information affects motion planning in a gravitation... more This preliminary study looks into how visual information affects motion planning in a gravitational environment. Recently, it has been shown that goal-directed tasks, e.g. simple pointing actions, are performed using a combination of a priori knowledge and closed-loop information, coming from proprioceptive-vestibular and visual feedback. In particular it has been observed that visual information is used by the central nervous system to reorganize motor planning when visuo-motor conflicts occur. The aim of our work is to investigate deeper the contribution of the visual channel in motor planning by means of virtual reality tools. Indeed, virtual reality technology is used here to modify the nature of visual input, leading to test several scenarios from minimalist and impoverished scenes to fully immersive and realistic environments. In fact we want to understand how the richness of the visual information is relevant in influencing our motor planning. We describe here our experimental setup and protocols. Moreover we present some preliminary results and we discuss the ongoing developments.
... We choose the thumb to be the CH. The hand control frame was linked to the 1009 Page 4. opera... more ... We choose the thumb to be the CH. The hand control frame was linked to the 1009 Page 4. operator virtual thumb. It was represented by an XYZ red frame, see Fig. 2. To keep this functionality, one of each robot gripper fingertips was candidate to correspond to the thumb. ...
Cette thèse porte sur l'utilisation de la vision en robotique mobile. Deux principau... more Cette thèse porte sur l'utilisation de la vision en robotique mobile. Deux principaux thèmes sont abordés. D'une part nous traitons du problème de la reconstruction géométrique d'une scène polyédrique en utilisant l'analyse de séquence d'images(l'extraction des droites 3 D ...
The possibilities of communication by gestures with the machines have been improved with the appe... more The possibilities of communication by gestures with the machines have been improved with the appearance of the instrumented gloves, provided with many sensors measuring the angles of the articulations and the position of the hand in space. Unfortunately, such gloves are still ...
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Papers by Chellali Ryad