Ouiddad Labbani-Igbida

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This paper describes a method for spatial representation , place recognition and qualitative self-localization in dynamic indoor environments, based on omnidirectional images. This is a difficult problem because of the perceptual ambiguity of the acquired images, and their weak robust-ness to noise, geometrical and photometric variations of real world(More)
We consider distributed systems made of <i>weak mobile</i> robots, that is, mobile devices, equipped with sensors, that are <i>anonymous</i>, <i>autonomous</i>, <i>disoriented</i>, and <i>oblivious</i>. The <i>Circle Formation Problem</i> (CFP) consists of the design of a protocol insuring that, starting from an initial arbitrary configuration where no two(More)
This paper provides a complexity study of the deterministic localization problem in robot networks using local and relative observations only. This is an important issue in collective and cooperative robotics where global positioning systems (GPS) are not available, and the basic premise is the localization ability of the group. We prove that given a set of(More)
This paper contributes to adapt parametric and geometric active contour methods in a new framework to handle real time free space extraction while taking advantage of the properties of omnivision. Both methods were formally and algorithmically adapted and improved. Some comparative results, achieved on unknown indoor and outdoor images, are presented to(More)
This paper contributes to the problem of deterministic localization of robot networks using local and relative observations only. This is an important issue in collective and cooperative robotics where global positioning systems are not available, and the basic premise is the localization ability of the group. We prove that, giving a set of relative(More)
Europe faces a major and growing healthcare problem due to increase in population, increasing longevity and an aging population with disability. Such dependent, elderly, disabled and vulnerable persons, are concerned since they wish to live at home as long as possible. This aspiration is also shared by national policies and communities across EU. To ensure(More)
The present study proposes an innovative approach to qualitative mobile robot's localization using the concept of integral invariant on omnidirectional images. They are invariant depending on the image transformations caused by the movements of the robot. Several methods have been suggested to construct such invariants but they often rely on hypotheses(More)
In this paper, we propose a robust and fast active contour based method to free space detection in omnidirectional images where the problem of falsely detected obstacles is solved. We define a new functional energy formulation including altitude estimation of keypoints extracted nearby the active contour modeling the free space. The free space, so(More)