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Research Interests: Computer Science, Algorithms, Artificial Intelligence, Confocal Microscopy, Medicine, and 13 moreAlgorithm, Image Registration, Image Analysis (Mathematics), Biomedical Imaging, Humans, Animals, Robot Control, Image Enhancement, Reproducibility of Results, Colon, Sensitivity and Specificity, Springer Ebooks, and Similarity Geometry
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The conception of full autonomous robotic systems is an enduring ambition for humankind. Nowadays theoretical and technological advances have allowed engineers to conceive complex systems that can replace humans in many tedious or... more
The conception of full autonomous robotic systems is an enduring ambition for humankind. Nowadays theoretical and technological advances have allowed engineers to conceive complex systems that can replace humans in many tedious or dangerous applications. However, in order to considerably enlarge the flexibility and the domain of applications of such autonomous systems we still need to face several scientific problems at the crossroad of many domains like for example artificial intelligence, signal processing and non-linear systems control. Amidst these challenges, the perception of the environment and the interaction of the robotic systems with the environment are fundamental problems in the design of such autonomous systems. Indeed, the performance of an autonomous robot not only depends on the accuracy, duration and reliability of its perception but also on the ability to use the perceived information in automatic control loops to interact safely with the environment despite unavo...
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We propose a simple and efficient control algorithm that combines visual servo control and force feedback within the impedance control approach. The control scheme involves, at the low level, a position based impedance controller with an... more
We propose a simple and efficient control algorithm that combines visual servo control and force feedback within the impedance control approach. The control scheme involves, at the low level, a position based impedance controller with an external force sensor feedback loop. The reference trajectory fed to this impedance controller is generated online by a vision based control loop. In spite
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In the last decade, research on vision-based robot control has been concentrated on two main issues: the narrow field of view of the conventional camera and the model de- pendency of the standard visual servoing approaches. In this paper,... more
In the last decade, research on vision-based robot control has been concentrated on two main issues: the narrow field of view of the conventional camera and the model de- pendency of the standard visual servoing approaches. In this paper, we propose a simple and elegant solution to these issues. To enlarge the field of view of the cameras, we use
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In this paper, the robustness of a new visual servoing scheme with respect to camera calibration errors is analyzed. This scheme, called 2D 1/2 visual servoing, is based on the estimation of the partial camera displacement from the... more
In this paper, the robustness of a new visual servoing scheme with respect to camera calibration errors is analyzed. This scheme, called 2D 1/2 visual servoing, is based on the estimation of the partial camera displacement from the current to the desired camera poses at each iteration of the control law. Visual features and data extracted from the partial displacement
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Research Interests: Computer Science, Artificial Intelligence, Computer Vision, Convergence, Proceedings, and 15 moreOptimization, Simultaneous Localization and Mapping, Motion estimation, Image Reconstruction, Bundle Adjustment, Performance Improvement, Feature Extraction, Convergence Rate, Pose Estimation, Robustness, Layout, Robotics Automation, Direct Method, Outlier, and a priori and a posteriori
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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... 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.
Research Interests: Humanities and Art
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Research Interests: Computer Science, Artificial Intelligence, Computer Vision, Iterative Methods, Augmented Reality, and 15 moreImage Registration, Motion estimation, Image Reconstruction, Bundle Adjustment, Feature Extraction, Computational Efficiency, Layout, Medical Image, Large Scale, Extended Kalman Filter, Image Warping, D structure, Outlier, Moving object, and Iterative refinement
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ABSTRACT This article proposes a nonlinear complementary filter for the special linear Lie-group SL(3) that fuses low-frequency state measurements with partial velocity measurements and adaptive estimation of unmeasured slowly changing... more
ABSTRACT This article proposes a nonlinear complementary filter for the special linear Lie-group SL(3) that fuses low-frequency state measurements with partial velocity measurements and adaptive estimation of unmeasured slowly changing velocity components. The obtained results have direct application on the problem of filtering a sequence of image homographies acquired from low-quality video data. The considered application motivates us to derive results that provide adaptive estimation of the full group velocity or part of the group velocity that cannot be measured from sensors attached to the camera. We demonstrate the performance of the proposed filters on real world homography data.
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Research Interests: Robotics, Computer Science, Artificial Intelligence, Computer Vision, Image Registration, and 13 moreModel Transformation, Visual tracking, Deformable Objects, Color Image, Robustness (evolution), Image Warping, Direct Methods, Nonlinear Optimization, Pixel, Direct Method, Image Features, Generic model, and Grayscale
Research Interests: Mechanical Engineering, Cartography, Computer Science, Artificial Intelligence, Computer Vision, and 10 moreImage Processing, Localization, Image Registration, Mobility, Simultaneous Localization and Mapping, Mobile Robots, Pose Estimation, Image Alignment, Electrical And Electronic Engineering, and Luminance
This paper concerns the stability analysis of image-based visual servoing control laws with respect to uncertainties on the 3-D parameters needed to compute the interaction matrix for any calibrated central catadioptric camera. In the... more
This paper concerns the stability analysis of image-based visual servoing control laws with respect to uncertainties on the 3-D parameters needed to compute the interaction matrix for any calibrated central catadioptric camera. In the recent past, research on image-based visual servoing has been concentrated on potential problems of stability and on robustness with respect to camera-calibration errors. Only little attention,
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Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse... more
Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. Abstract In this paper, we propose a new vision-based robot control approach which is halfway between the classical position-based and image-based visual servoings. It allows to avoid their respective disadvantages. For a planar object, the homography between the feature points extracted from two images (corresponding to the current and desired camera poses) is computed at each iteration of the control law. From this homog-raphy, an approximate partial-pose, where the trans-lational term is known only up to a scale factor, is deduced. Using parameters of this partial pose and image features, it is possible to design a closed-loop control law controlling the six camera d.o.f. Contrarily to the position-based visual servoing, our scheme does not need any geometric 3D model of the object. Furthermore and contrarily to the image-based visual servoing, our approach ensures the convergence of the control law in all the task space.
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