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A Study of Vicon System Positioning Performance
TLDR
A new setup is introduced that enables directly estimating the absolute positioning accuracy for dynamic experiments contrary to state-of-the art works that rely on inter-marker distances. Expand
Homography Based Egomotion Estimation with a Common Direction
TLDR
This paper explores the different minimal solutions for egomotion estimation of a camera based on homography knowing the gravity vector between calibrated images and demonstrates the efficiency and the robustness of this approach compared to standard methods. Expand
Visual odometry with unsynchronized multi-cameras setup for intelligent vehicle application
TLDR
A visual odometry with metric scale estimation of a multi-camera system in challenging un-synchronized setup and a new algorithm named “triangle-based” method, which employs the information from both extrinsic and intrinsic parameters of calibrated cameras. Expand
The VIKINGS Autonomous Inspection Robot: Competing in the ARGOS Challenge
TLDR
The goal of this article is to present the major components of the VIKINGS robot's architecture and the algorithms the authors developed for certain functions (e.g., localization, gauge reading, and so on), and the methodology they adopted, which allowed us to succeed in this challenge. Expand
Fusion of Omnidirectional and PTZ Cameras for Face Detection and Tracking
TLDR
The proposed vision system is composed of a catadioptric sensor for full range monitoring and a pan tilt zoom camera leading to an innovative sensor, able to detect and track any moving objects at a higher zoom level. Expand
A 3D Omnidirectional Sensor For Mobile Robot Applications
TLDR
The in-line approach, known as SLAM (Simultaneous Localization and Mapping), is one of the most active research areas in robotics since it can provide a real autonomy to a mobile robot. Expand
Camera Pose Estimation Based on PnL With a Known Vertical Direction
TLDR
This letter presents a linear formulation of the PnL problem in Plücker lines coordinates with a known vertical direction, including a Gauss–Newton-based orientation and location refinement to compensate IMU sensor noise. Expand
Road-line detection and 3D reconstruction using fisheye cameras
TLDR
This article evaluates a simple algorithm for road line detection based on the unified sphere model in real conditions and shows how the 3D position of the lines can be recovered by triangulation. Expand
Vision based vehicle relocalization in 3D line-feature map using Perspective-n-Line with a known vertical direction
TLDR
This paper introduces a novel pose estimation method from lines, (i.e. Perspective-n-Line or PnL), with a known vertical direction, and benefits a Gauss-Newton optimization scheme to compensate the sensor-induced vertical direction errors, and refine the overall pose. Expand
Static and Dynamic Evaluation of an UWB Localization System for Industrial Applications
TLDR
An experimental protocol is implemented to evaluate the accuracy of a UWB system to estimate the position of a person moving in an indoor environment both statically and dynamically and is compared to a ground truth obtained by a motion capture system with a millimetric accuracy. Expand
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