Laurent Delahoche

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In this paper, we present experimental results got with the omnidirectional sensor SYCLOP “Conical SYstem for LOcalization and Perception” for localisation of mobile robots. This system, which is able to get a panoramic view of a 2π radian field, is made of a CCD camera and a vertically oriented conic shaped reflector. We give at first a method to calibrate(More)
This general paper aims at presenting the Smart Home concept. In this paper, we will detail a) The Smart Home concept b) The various networks infrastructures specific to the habitat c) Our concepts to model the habitat and to provide the most adapted services to the inhabitants. Contrary to the other projects, we direct our work towards a sensors approach(More)
Abstract In this paper, we present a multi-sensor cooperation paradigm between an omnidirectional vision system and a panoramic range finder system, using to localize dynamically a mobile robot. These two sensors provide some complementary data which enable us to build a robust sensorial model which integrates an important number of significant primitives.(More)
In this article, a dynamic localization method based on multi target tracking is presented. The originality of this method is its capability to manage and propagate uncertainties during the localization process. This multi-level uncertainty propagation stage is based on the use of the Dempster-Shafer theory. The perception system we use is composed of an(More)
SUMMARY In this paper, we deal with the perceptual organization which is a crucial problem in computer vision. Perceptual organization consists in structuring the image into perceptually significant groups. These structures will be used in higher level processes such as image understanding or object recognition. The grouping is based on application of the(More)
1566-2535/$ see front matter 2011 Elsevier B.V. A doi:10.1016/j.inffus.2011.01.004 ⇑ Corresponding author. E-mail address: (B. Ma We address the problem of abnormal behaviour recognition of the inhabitant of a smart home in the presence of unreliable sensors. The corner stone of this work is a two-level architecture sensor fusion(More)
This paper deals with an absolute mobile robot selflocalization algorithm in an indoor environment. Until now, localization methods based on conical omnidirectional vision sensors uniquely used radial segments from vertical environment landmarks projection. The main motivation of this work is to demonstrate that the SYCLOP sensor can be used as a vision(More)