Rémi Boutteau

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In most of the missions a mobile robot has to achieve – intervention in hostile environments, preparation of military intervention, mapping, etc – two main tasks have to be completed: navigation and 3D environment perception. Therefore, vision based solutions have been widely used in autonomous robotics because they provide a large amount of information(More)
Many applications for mobile robot authentication require to be able to explore a large field of view with high resolution. The proposed vision system is composed of a catadioptric sensor for full range monitoring and a pan tilt zoom (PTZ) camera leading to an innovative sensor, able to detect and track any moving objects at a higher zoom level. In our(More)
This paper presents a novel descriptor based on skeleton information provided by RGB-D videos for human action recognition. These features are obtained, considering the motion as continuous trajectories of skeleton joints. With the discrete information of skeleton joints position, a cubic-spline interpolation is applied to joints position, velocity and(More)
In future Advanced Driver Assistance Systems (ADAS), smart monitoring of the vehicle environment is a key issue. Fisheye cameras have become popular as they provide a panoramic view with a few low-cost sensors. However, current ADAS systems have limited use as most of the underlying image processing has been designed for perspective views only. In this(More)
This paper presents a visual odometry with metric scale estimation of a multi-camera system in challenging un-synchronized setup. The intended application is in the field of intelligent vehicles. We propose a new algorithm named “triangle-based” method. The proposed algorithm employs the information from both extrinsic and intrinsic parameters(More)
In this paper, we explore the different minimal solutions for egomotion estimation of a camera based on homography knowing the gravity vector between calibrated images. These solutions depend on the prior knowledge about the reference plane used by the homography. We then demonstrate that the number of matched points can vary from two to three and that a(More)
In this paper, we tackle the problem of map estimation from small set of vehicular GPS traces collected from low cost devices. Contrary to the existing works, we rely only on GPS information. First, we propose a fast implementation of Kalman filtering of spline-based road modeling. Our approach demonstrates a significant boost of the computation speed while(More)
In this paper we present an unsynchronized camera network able to estimate the motion and the structure with accurate absolute scale. The proposed algorithm requires at least three frames: two frames from one camera and a frame from a neighbouring camera. The relative camera poses are estimated with classical Structure-from-Motion and the absolute scales(More)