Research Interests:
Research Interests:
... 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... 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 ...
Research Interests:
INRIA Sophia Antipolis M´editerran´ee, 2004 route des Lucioles, Sophia Antipolis Cedex, Francecyril.joly@sophia.inria.fr, patrick.rives@sophia.inria.frKeywords: Simultaneous Localization and Mapping (SLAM), Smoothing and Mapping (SAM),... more
INRIA Sophia Antipolis M´editerran´ee, 2004 route des Lucioles, Sophia Antipolis Cedex, Francecyril.joly@sophia.inria.fr, patrick.rives@sophia.inria.frKeywords: 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...
Research Interests:
Research Interests:
Research Interests:
Research Interests:
Research Interests:
Research Interests:
... 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... 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. ...
Research Interests:
Research Interests: Computer Science, Artificial Intelligence, Computer Vision, Robot Vision, Machine Vision, and 15 moreRobot kinematics, Calibration, ROBOT, Observability, Sensor Fusion, Mobile Robot, Graph, Sensor Calibration, Correctness, Boolean Satisfiability, Extended Kalman Filter, Non Linear System, Odometry, Omnidirectional Camera, and Autonomous mobile robot
Research Interests:
Research Interests:
SIGLECNRS AR 12319 / INIST-CNRS - Institut de l'Information Scientifique et TechniqueFRFranc
Research Interests:
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
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 ...
Research Interests:
Research Interests:
Research Interests:
Research Interests: Mechanical Engineering, Cartography, Computer Science, Artificial Intelligence, Computer Vision, and 11 moreImage Processing, Localization, Image Registration, Mobility, Simultaneous Localization and Mapping, Mobile Robots, Pose Estimation, Image Alignment, Electrical And Electronic Engineering, Luminance, and a priori and a posteriori
Research Interests: Mechanical Engineering, Robotics, Computer Science, Artificial Intelligence, Computer Vision, and 15 morePattern Recognition, Modeling, Interaction, Automatic Control, Machine Vision, Control Systems, Robots, Manufacturing Engineering, ROBOT, Redundancy, Robot Control, Robustness, Image Sensor, Electrical And Electronic Engineering, and Robotics Automation
Abstract/Le sujet de cette thèse concerne la vision robotique. Plus précisément, nous nous intéressons à la réalisation de tâches de positionnement par asservissement visuel en nous restreignant toutefois au cas où l'objet observé... more
Abstract/Le sujet de cette thèse concerne la vision robotique. Plus précisément, nous nous intéressons à la réalisation de tâches de positionnement par asservissement visuel en nous restreignant toutefois au cas où l'objet observé est immobile. En revanche, nous ne ...
Research Interests:
Research Interests:
Research Interests:
Research Interests:
Clinical evaluation of frailty in the elderly is the first step to decide the degree of assistance they require. Advances in robotics make it possible to turn a standard assistance device into an augmented device that may enrich the... more
Clinical evaluation of frailty in the elderly is the first step to decide the degree of assistance they require. Advances in robotics make it possible to turn a standard assistance device into an augmented device that may enrich the existing tests with new sets of daily measured criteria. In this paper we use a standard 4 wheeled rollator, equipped with a Kinect and odometers, for biomechanical gait analysis. This paper focuses on the method we develop to measure and estimate legs and feet position during an assisted walk. The results are compared with motion capture data, as a ground truth. Preliminary results obtained on four healthy persons show that relevant data can be extracted for gait analysis. Some criteria are accurate with regards to the ground truth, eg. foot orientation and ankle angle.
Research Interests:
... rameters of the 3D feature to a dynamic measurement into the sequence of images. ... The basic principle is to find the best approximation of a cluster of points by a line, that ... purpose of this experiment is to emphasizethe extra... more
... rameters of the 3D feature to a dynamic measurement into the sequence of images. ... The basic principle is to find the best approximation of a cluster of points by a line, that ... purpose of this experiment is to emphasizethe extra motions due to the estimation process during the mo ...
Research Interests:
Research Interests:
Research Interests: Philosophy and INRIA
This paper describes a visual servo control scheme for an outdoor autonomous airship in path following tasks. The visual based guidance takes full authority of the robotic airship and it is based on lines as image fea- tures, extracted... more
This paper describes a visual servo control scheme for an outdoor autonomous airship in path following tasks. The visual based guidance takes full authority of the robotic airship and it is based on lines as image fea- tures, extracted from an on-board camera. An op- timal controller is designed using the dynamic model of the system, which tackles the dynamics
Research Interests:
Abstract—The aim of this study is to propose a 3-dimension reconstruction method of small-scale scenes improved by a new image acquisition method for quantitative measurements. A stereovision system is used to acquire images in order to... more
Abstract—The aim of this study is to propose a 3-dimension reconstruction method of small-scale scenes improved by a new image acquisition method for quantitative measurements. A stereovision system is used to acquire images in order to obtain several shots of an object, at regular intervals according to a predefined trajectory. A complete methodology of 3D reconstruction is exposed to perform a dense 3D model with texture mapping. A first result on natural images collected with the stereovision system during sea trials has been obtained. Index Terms—Underwater imaging; stereovision system; visual servoing; dense disparity map; 3D reconstruction. A I.
Exponential stabilization to an equilibrium point for a nonlinear control system without drift is an interesting problem in control theory, which has significant applications in mobile robotics. State feedback controllers developed for... more
Exponential stabilization to an equilibrium point for a nonlinear control system without drift is an interesting problem in control theory, which has significant applications in mobile robotics. State feedback controllers developed for this prob lem require an estimate of the mobile robot's state, either from odometry or from exteroceptive sensors. The present paper considers the use of visual data, from a camera tracking a known target, in a visual servoing scheme based on time varying exponential stabilizers. Two such schemes are presented, one, where the system's state is explicitly reconstructed from the sensory data and another, where these data are used directly in the control loop. We study the planar case, where the camera only pans, and present some preliminary simulation results.
— This paper describes a new image-based approach to tracking the 6dof trajectory of a stereo camera pair using a corresponding reference image pairs instead of explicit 3D feature reconstruction of the scene. A dense minimisation... more
— This paper describes a new image-based approach to tracking the 6dof trajectory of a stereo camera pair using a corresponding reference image pairs instead of explicit 3D feature reconstruction of the scene. A dense minimisation approach is employed which directly uses all grey-scale information available within the stereo pair (or stereo region) leading to very robust and precise results. Metric 3D structure constraints are imposed by consistently warping corresponding stereo images to generate novel viewpoints at each stereo acquisition. An iterative non-linear trajectory estimation approach is formulated based on a quadrifocal relationship between the image intensities within adjacent views of the stereo pair. A robust M-estimation technique is used to reject outliers corresponding to moving objects within the scene or other outliers such as occlusions and illumination changes. The technique is applied to recovering the trajectory of a moving vehicle in long and difficult seque...
Research Interests:
ABSTRACT
Research Interests:
... Patrick Rives and Jean-Jacques Borrelly INRIA 2004 Route des Lucioles 06902 Sophia Antipolis Cedex - France rives@sophia.inria.fr, borrelly@sophia.inria.fr Abstract ... 0 M is the kinetics energy matrix, 0 N gathers gravity,... more
... Patrick Rives and Jean-Jacques Borrelly INRIA 2004 Route des Lucioles 06902 Sophia Antipolis Cedex - France rives@sophia.inria.fr, borrelly@sophia.inria.fr Abstract ... 0 M is the kinetics energy matrix, 0 N gathers gravity, centrifugal, Coriolis and hydro-...
Research Interests:
The representation of 3D geometric and photometric information of the real world is one of the most challenging and extensively studied research topics in the photogrammetry and robotics communities. In this paper, we present a fully... more
The representation of 3D geometric and photometric information of the real world is one of the most challenging and extensively studied research topics in the photogrammetry and robotics communities. In this paper, we present a fully automatic framework for 3D high quality large scale urban texture mapping using oriented images and LiDAR scans acquired by a terrestrial Mobile Mapping System (MMS). First, the acquired points and images are sliced into temporal chunks ensuring a reasonable size and time consistency between geometry (points) and photometry (images). Then, a simple, fast and scalable 3D surface reconstruction relying on the sensor space topology is performed on each chunk after an isotropic sampling of the point cloud obtained from the raw LiDAR scans. Finally, the algorithm proposed in (Waechter et al., 2014) is adapted to texture the reconstructed surface with the images acquired simultaneously, ensuring a high quality texture with no seams and global color adjustment...
Research Interests:
Research Interests:
In this paper, we discuss of the classical problem of the reconstruction of natural scenes, but in our case for the non-structured and underwater ones. Using an uncalibrated single camera, we propose to describe a method to firstly,... more
In this paper, we discuss of the classical problem of the reconstruction of natural scenes, but in our case for the non-structured and underwater ones. Using an uncalibrated single camera, we propose to describe a method to firstly, extract robust and stable features based on a multi scale approach, and secondly to reconstruct a 3D projective model of the scene.
Research Interests:
Research Interests:
Research Interests:
Research Interests:
Research Interests:
Research Interests: Computer Science, Computer Vision, Convergence, Optimization, Simultaneous Localization and Mapping, and 11 moreMotion estimation, Image Reconstruction, Performance Improvement, Feature Extraction, Convergence Rate, Pose Estimation, Robustness, Layout, Tensile Stress, Robotics Automation, and Direct Method
Research Interests:
Page 1. A Fast Vision-based Road Following Strategy Applied to the Control of Aerial Robots GERALDO F. SILVEIRA', J. REGINALD0 H. CARVALH02, MARCONI K. MADRID', PATRICK... more
Page 1. A Fast Vision-based Road Following Strategy Applied to the Control of Aerial Robots GERALDO F. SILVEIRA', J. REGINALD0 H. CARVALH02, MARCONI K. MADRID', PATRICK RIVES3, SAMUEL S. BUEN02 'UNICAMP - PO Box 6101, 13081-970, Campinas-SP, Brazil. ...