Stanislas Larnier

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In this paper, a general framework based on fractional-order partial differential equations allows to solve image reconstruction problems. The algorithm presented in this work combines two previous notions: a fractional derivative implementation by Discrete Fourier Transform and the edge detection by topological gradient. The purpose of the paper is to(More)
Topological asymptotic analysis provides tools to detect edges and their orientation. The purpose of this article is to show the possibilities of anisotropic topological gradient in image restoration. Previous methods based on the topological gradient used isotropic diffusion to restore images. These methods are improved here by using anisotropic diffusion(More)
This paper deals with an automated preflight aircraft inspection using a pan-tilt-zoom camera mounted on a mobile robot moving autonomously around the aircraft. The general topic is image processing framework for detection and exterior inspection of different types of items, such as closed or unlatched door, mechanical defect on the engine, the integrity of(More)
Scene understanding is widely linked to the perception of it. Lane detection and tracking are commonly used in the context of autonomous transportation to estimate the drivable area on marked road. Real-time, accurate and efficient analyses are particularly critical when mobile robots are considered. Moreover, safe trajectories are of importance for those(More)
One method to solve topology optimization problems is the topological derivative. This approach has some drawbacks: it is limited to simple problems, we do not know how to fill holes, ... To overcome these limitations, an extension of the adjoint method is presented. Named the numerical vault, it allows us to consider new fields of applications and to(More)
The French Air-Cobot project aims to improve preflight maintenance and provide a traceability of the performed checks. To do so, a collaborative mobile robot has been built. One of its non-destructive sensors is a pan-tilt-zoom camera. Visual inspection needs to be easy to apply and quickly carried due to time constraints on the airport. The robot is able(More)
This paper presents two automatic methods for visual grading, deterministic and probabilistic, designed to solve the industrial problem of evaluation of seed lots from the characterization of a representative sample. The sample is thrown in bulk onto a tray placed in a chamber for acquiring color image in a controlled and reproducible manner. Two(More)
Perception is one of the most important tasks for safe navigation of autonomous mobile robots in outdoor environments that are dynamic and unknown. This paper presents a real time system for detection and classification of dynamic objects using a 2D laser range finder (2D LRF) and a moving camera mounted on the mobile robot. An occupancy grid based(More)
This paper presents two automatic methods for visual grading, designed to solve the industrial problem of evaluation of seed lots from the characterization of a representative sample. The sample is thrown in bulk onto a tray placed in a chamber for acquiring color image in a controlled and reproducible manner. Two image processing methods have been(More)