Project-Team Lagadic
Members
Overall Objectives
Research Program
Application Domains
Highlights of the Year
New Software and Platforms
New Results
Bilateral Contracts and Grants with Industry
Partnerships and Cooperations
Dissemination
Bibliography
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Bibliography

Major publications by the team in recent years
  • 1F. Chaumette, S. Hutchinson.
    Visual servoing and visual tracking, in: Handbook of Robotics, B. Siciliano, O. Khatib (editors), Springer, 2008, chap. 24, pp. 563-583.
    http://hal.inria.fr/hal-00920414/en
  • 2A. Comport, E. Marchand, M. Pressigout, F. Chaumette.
    Real-time markerless tracking for augmented reality: the virtual visual servoing framework, in: IEEE Trans. on Visualization and Computer Graphics, July 2006, vol. 12, no 4, pp. 615–628.
    https://hal.inria.fr/inria-00161250
  • 3A. Dame, E. Marchand.
    Second order optimization of mutual information for real-time image registration, in: IEEE Trans. on Image Processing, 2012, vol. 21, no 9, pp. 4190-4203.
    http://hal.inria.fr/hal-00750528/en
  • 4A. Diosi, S. Segvic, A. Remazeilles, F. Chaumette.
    Experimental Evaluation of Autonomous Driving Based on Visual Memory and Image Based Visual Servoing, in: IEEE Trans. on Intelligent Transportation Systems, September 2011, vol. 12, no 3, pp. 870–883.
    http://hal.inria.fr/hal-00639680/en
  • 5E. Marchand, F. Spindler, F. Chaumette.
    ViSP for visual servoing: a generic software platform with a wide class of robot control skills, in: IEEE Robotics and Automation Magazine, December 2005, vol. 12, no 4, pp. 40-52.
    https://hal.inria.fr/inria-00351899
  • 6R. Mebarki, A. Krupa, F. Chaumette.
    2D ultrasound probe complete guidance by visual servoing using image moments, in: IEEE Trans. on Robotics, April 2010, vol. 26, no 2, pp. 296-306.
    https://hal.inria.fr/inria-00544791
  • 7M. Meilland, A. Comport, P. Rives.
    Dense omnidirectional RGB-D mapping of large scale outdoor environments for real-time localisation and autonomous navigation, in: Journal of Field Robotics, Special Issue on Ground Robots Operating in dynamic, unstructured and large-scale outdoor environments, June 2015, vol. 32, no 4, pp. 474-503.
    http://hal.inria.fr/hal-01010429
  • 8C. Nadeau, A. Krupa.
    Intensity-based ultrasound visual servoing: modeling and validation with 2D and 3D probes, in: IEEE. Trans. on Robotics, August 2013, vol. 29, no 4, pp. 1003-1015. [ DOI : 10.1109/TRO.2013.2256690 ]
    http://hal.inria.fr/hal-00854100
  • 9R. Spica, P. Robuffo Giordano, F. Chaumette.
    Active Structure from Motion: Application to Point, Sphere and Cylinde, in: IEEE Trans. on Robotics, December 2015, vol. 30, no 6, pp. 1499-1513.
    http://hal.inria.fr/hal-01010429
  • 10D. Zelazo, A. Franchi, H. H. Bülthoff, P. Robuffo Giordano.
    Decentralized rigidity maintenance control with range measurements for multi-robot systems, in: The Int. Journal of Robotics Research, January 2015, vol. 34, no 1, pp. 105-128.
    http://hal.inria.fr/hal-01076423
Publications of the year

Doctoral Dissertations and Habilitation Theses

Articles in International Peer-Reviewed Journals

  • 20D. J. Agravante, G. Claudio, F. Spindler, F. Chaumette.
    Visual servoing in an optimization framework for the whole-body control of humanoid robots, in: IEEE Robotics and Automation Letters, 2017.
    https://hal.inria.fr/hal-01421734
  • 21Q. Bateux, É. Marchand.
    Histograms-based Visual Servoing, in: IEEE Robotics and Automation Letters, January 2017, vol. 2, no 1, pp. 80-87.
    https://hal.inria.fr/hal-01265560
  • 22S. Briot, F. Chaumette, P. Martinet.
    Revisiting the determination of the singularity cases in the visual servoing of image points through the concept of hidden robot, in: IEEE Transactions on Robotics, January 2017, vol. 33, no 2.
    https://hal.archives-ouvertes.fr/hal-01399774
  • 23S. Briot, P. Martinet, F. Chaumette.
    Determining the Singularities for the Observation of Three Image Lines, in: IEEE Robotics and Automation Letters, April 2017, vol. 2, no 2, pp. 412-419.
    https://hal.archives-ouvertes.fr/hal-01398925
  • 24J. Bruneau, J. Pettré.
    EACS: Effective Avoidance Combination Strategy, in: Computer Graphics Forum, September 2016. [ DOI : 10.1111/cgf.13066 ]
    https://hal.inria.fr/hal-01392248
  • 25V. Drevelle, P. Bonnifait.
    Interval-based fast fault detection and identification applied to radio-navigation multipath, in: International Journal of Adaptive Control and Signal Processing, January 2016, vol. 30, pp. 154–172. [ DOI : 10.1002/acs.2535 ]
    https://hal.inria.fr/hal-01258946
  • 26E. Fernández-Moral, P. Rives, V. Arévalo, J. González-Jiménez.
    Scene structure registration for localization and mapping, in: Robotics and Autonomous Systems, January 2016, vol. 75, no B, pp. 649-660. [ DOI : 10.1016/j.robot.2015.09.009 ]
    https://hal.inria.fr/hal-01237845
  • 27J. Forshaw, G. Aglietti, N. Navarathinam, H. Kadhem, T. Salmon, A. Pisseloup, E. Joffre, T. Chabot, I. Retat, R. Axthelm, S. Barraclough, A. Ratcliffe, C. Bernal, F. Chaumette, A. Pollini, W. Steyn.
    REMOVEDEBRIS: An In-Orbit Active Debris Removal Demonstration Mission, in: Acta Astronautica, October 2016, vol. 127, pp. 448-463. [ DOI : 10.1016/j.actaastro.2016.06.018 ]
    https://hal.inria.fr/hal-01342268
  • 28A. Franchi, P. Robuffo Giordano.
    Online Leader Selection for Improved Collective Tracking and Formation Maintenance, in: IEEE Transactions on Control of Network Systems, 2016. [ DOI : 10.1109/TCNS.2016.2567222 ]
    https://hal.archives-ouvertes.fr/hal-01315463
  • 29L. Hoyet, A.-H. Olivier, R. Kulpa, J. Pettré.
    Perceptual Effect of Shoulder Motions on Crowd Animations, in: ACM Transactions on Graphics, July 2016. [ DOI : 10.1145/2897824.2925931 ]
    https://hal.inria.fr/hal-01357713
  • 30V. Karakkat Narayanan, F. Pasteau, M. Marchal, A. Krupa, M. Babel.
    Vision-based adaptive assistance and haptic guidance for safe wheelchair corridor following, in: Computer Vision and Image Understanding, August 2016, vol. 179, pp. 171-185.
    https://hal.inria.fr/hal-01277585
  • 31A. Krupa, D. Folio, C. Novales, P. Vieyres, T. Li.
    Robotized Tele-Echography: an Assisting Visibility Tool to Support Expert Diagnostic, in: IEEE Systems Journal, September 2016, vol. 10, no 3, pp. 974-983. [ DOI : 10.1109/JSYST.2014.2314773 ]
    https://hal.archives-ouvertes.fr/hal-00986875
  • 32J. Lima, F. Simões, H. Uchiyama, V. Teichrieb, E. Marchand.
    Depth-Assisted Rectification for Real-Time Object Detection and Pose Estimation, in: Machine Vision and Applications, February 2016, vol. 27, no 2, pp. 193-219.
    https://hal.inria.fr/hal-01233046
  • 33É. Marchand, H. Uchiyama, F. Spindler.
    Pose Estimation for Augmented Reality: A Hands-On Survey, in: IEEE Transactions on Visualization and Computer Graphics, December 2016, vol. 22, no 12, pp. 2633 - 2651. [ DOI : 10.1109/TVCG.2015.2513408 ]
    https://hal.inria.fr/hal-01246370
  • 34C. Nadeau, A. Krupa, J. Petr, C. Barillot.
    Moments-Based Ultrasound Visual Servoing: From Mono to Multi-plane Approach, in: IEEE Transactions on Robotics, 2017. [ DOI : 10.1109/TRO.2016.2604482 ]
    https://hal.inria.fr/hal-01385661
  • 35T. Nestmeyer, P. Robuffo Giordano, H. H. Bülthoff, A. Franchi.
    Decentralized Simultaneous Multi-target Exploration using a Connected Network of Multiple Robots, in: Autonomous Robots, 2016. [ DOI : 10.1007/s10514-016-9578-9 ]
    https://hal.inria.fr/hal-01332937
  • 36P. Papadakis, P. Rives.
    Binding human spatial interactions with mapping for enhanced mobility in dynamic environments, in: Autonomous Robots, 2016. [ DOI : 10.1007/s10514-016-9581-1 ]
    https://hal.inria.fr/hal-01342255
  • 37F. Pasteau, V. Karakkat Narayanan, M. Babel, F. Chaumette.
    A visual servoing approach for autonomous corridor following and doorway passing in a wheelchair, in: Robotics and Autonomous Systems, January 2016, vol. 75, part A, pp. 28-40. [ DOI : 10.1016/j.robot.2014.10.017 ]
    https://hal.inria.fr/hal-01068163
  • 38S. Raj Bista, P. Robuffo Giordano, F. Chaumette.
    Appearance-based Indoor Navigation by IBVS using Line Segments, in: IEEE Robotics and Automation Letters, January 2016, vol. 1, no 1, pp. 423-430, Also presented in IEEE Int. Conf. on Robotics and Automation, Stockolm, Sweden.
    https://hal.inria.fr/hal-01259750
  • 39Z. Ren, P. Charalambous, J. Bruneau, Q. Peng, J. Pettré.
    Group Modeling: A Unified Velocity-Based Approach, in: Computer Graphics Forum, 2016. [ DOI : 10.1111/cgf.12993 ]
    https://hal.inria.fr/hal-01372766
  • 40L. Royer, A. Krupa, G. DARDENNE, A. Le Bras, É. Marchand, M. Marchal.
    Real-time Target Tracking of Soft Tissues in 3D Ultrasound Images Based on Robust Visual Information and Mechanical Simulation, in: Medical Image Analysis, January 2017, vol. 35, pp. 582 - 598. [ DOI : 10.1016/j.media.2016.09.004 ]
    https://hal.inria.fr/hal-01374589
  • 41C. Vassallo, A.-H. Olivier, P. Souères, A. Crétual, O. Stasse, J. Pettré.
    How do walkers avoid a mobile robot crossing their way?, in: Gait and Posture, January 2017, vol. 51, pp. 97-103.
    https://hal.archives-ouvertes.fr/hal-01371202
  • 42D. Wolinski, M. C. Lin, J. Pettré.
    WarpDriver: Context-Aware Probabilistic Motion Prediction for Crowd Simulation, in: ACM Transactions on Graphics, November 2016, vol. 35, no 6. [ DOI : 10.1145/2980179.2982442 ]
    https://hal.inria.fr/hal-01411087

Invited Conferences

  • 43F. Chaumette.
    Visual servoing with and without image processing, in: Plenary talk, IEEE International Conference on Real-time Computing and Robotics, RCAR’2016, Angkor Wat, Cambodia, June 2016.
    https://hal.inria.fr/hal-01385400
  • 44F. Chaumette.
    Visual servoing, in: Tutorial on Vision for Robotics, IEEE Int. Conf. on Robotics and Automation, Stockholm, Sweden, May 2016.
    https://hal.inria.fr/hal-01385401
  • 45E. Marchand.
    Visual tracking, in: Tutorial on Vision for Robotics, IEEE Int. Conf. on Robotics and Automation, Stockholm, Sweden, May 2016.
    https://hal.inria.fr/hal-01385405

International Conferences with Proceedings

  • 46F. Abi-Farraj, N. Pedemonte, P. Robuffo Giordano.
    A Visual-Based Shared Control Architecture for Remote Telemanipulation, in: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'16, Daejeon, South Korea, October 2016, pp. 4266-4273.
    https://hal.inria.fr/hal-01355785
  • 47G. Andrade, F. Nouviale, J. Ardouin, É. Marchand, M. Marchal, A. Lécuyer.
    Enjoy 360° Vision with the FlyVIZ, in: SIGGRAPH 2016 Emerging Technologies, Anaheim, United States, July 2016. [ DOI : 10.1145/2929464.2929471 ]
    https://hal.inria.fr/hal-01387573
  • 48Q. Bateux, E. Marchand.
    Particle Filter-based Direct Visual Servoing, in: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'16, Daejeon, South Korea, October 2016, pp. 4180-4186.
    https://hal.inria.fr/hal-01355396
  • 49S. Briot, P. Martinet, F. Chaumette.
    Singularity Cases in the Visual Servoing of Three Image Lines, in: 2017 IEEE International Conference on Robotics and Automation (ICRA 2017), Singapour, Singapore, Proceedings of 2017 IEEE International Conference on Robotics and Automation (ICRA 2017), May 2017.
    https://hal.archives-ouvertes.fr/hal-01435811
  • 50P. Chatelain, A. Krupa, N. Navab.
    Confidence-Driven Control of an Ultrasound Probe: Target-Specific Acoustic Window Optimization, in: IEEE Int. Conf. on Robotics and Automation, ICRA'16, Stockholm, Sweden, May 2016.
    https://hal.inria.fr/hal-01274748
  • 51J. Chevrie, A. Krupa, M. Babel.
    Needle Steering Fusing Direct Base Manipulation and Tip-based Control, in: IEEE Int. Conf. on Robotics and Automation, ICRA'16, Stockholm, Sweden, May 2016.
    https://hal.inria.fr/hal-01304860
  • 52J. Chevrie, A. Krupa, M. Babel.
    Online prediction of needle shape deformation in moving soft tissues from visual feedback, in: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'16, Daejeon, South Korea, October 2016, pp. 2357-2362.
    https://hal.inria.fr/hal-01355484
  • 53G. Claudio, F. Spindler, F. Chaumette.
    Vision-based manipulation with the humanoid robot Romeo, in: IEEE-RAS International Conference on Humanoid Robotics, Humanoids 2016, Cancun, Mexico, November 2016.
    https://hal.inria.fr/hal-01385408
  • 54L. Cui, E. Marchand, S. Haliyo, S. Régnier.
    Three-Dimensional Visual Tracking and Pose Estimation in Scanning Electron Microscopes, in: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'16, Daejeon, South Korea, October 2016, pp. 5210-5215.
    https://hal.inria.fr/hal-01355393
  • 55L. Devigne, V. Karakkat Narayanan, F. Pasteau, M. Babel.
    Low complex sensor-based shared control for power wheelchair navigation, in: IROS2016 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, South Korea, October 2016, pp. 5434-5439.
    https://hal.inria.fr/hal-01355410
  • 56V. Drevelle.
    Convergence domain of image-based visual servoing with a line-scan camera, in: Summer Workshop on Interval Methods, SWIM 2016, Lyon, France, June 2016.
    https://hal.inria.fr/hal-01415435
  • 57L.-A. Duflot, A. Krupa, B. Tamadazte, N. Andreff.
    Shearlet Transform: a Good Candidate for Compressed Sensing in Optical Coherence Tomography, in: IEEE Int. Conf. on Engineering in Medicine and Biology Society, EMBC'16, Orlando, United States, August 2016, pp. 435-438.
    https://hal.inria.fr/hal-01355488
  • 58L.-A. Duflot, A. Krupa, B. Tamadazte, N. Andreff.
    Shearlet-based vs. Photometric-based Visual Servoing for Robot-assisted Medical Applications, in: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'16, Daejeon, South Korea, October 2016, pp. 4099-4104.
    https://hal.inria.fr/hal-01355414
  • 59L.-A. Duflot, A. Krupa, B. Tamadazte, N. Andreff.
    Toward Ultrasound-based Visual Servoing using Shearlet Coefficients, in: IEEE Int. Conf. on Robotics and Automation, ICRA'16, Stockholm, Sweden, May 2016.
    https://hal.inria.fr/hal-01304753
  • 60S. Jiddi, P. Robert, E. Marchand.
    Reflectance and Illumination Estimation for Realistic Augmentations of Real Scenes, in: IEEE Int. Symp. on Mixed and Augmented Reality, ISMAR'16 (poster session), Merida, Mexico, September 2016, Poster.
    https://hal.inria.fr/hal-01355581
  • 61V. Karakkat Narayanan, A. Spalanzani, M. Babel.
    A semi-autonomous framework for human-aware and user intention driven wheelchair mobility assistance, in: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'16, Daejeon, South Korea, October 2016, pp. 4700-4707.
    https://hal.inria.fr/hal-01355481
  • 62V. Karakkat Narayanan, A. Spalanzani, R. C. Luo, M. Babel.
    Analysis of an adaptive strategy for equitably approaching and joining human interactions, in: IEEE Int. Symp. on Robot and Human Interactive Communication, RO-MAN, New-York, United States, IEEE Int. Symp. on Robot and Human Interactive Communication, RO-MAN, August 2016.
    https://hal.inria.fr/hal-01330889
  • 63I.-F. Kenmogne, V. Drevelle.
    Image-based Mobile Robot localization using Interval Methods, in: Summer Workshop on Interval Methods, SWIM 2016, Lyon, France, June 2016.
    https://hal.inria.fr/hal-01415432
  • 64A. Magassouba, N. Bertin, F. Chaumette.
    Audio-based robot controlfrom interchannel level difference and absolute sound energy, in: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'16, Daejeon, South Korea, October 2016, pp. 1992-1999.
    https://hal.inria.fr/hal-01355394
  • 65A. Magassouba, N. Bertin, F. Chaumette.
    Binaural auditory interaction without HRTF for humanoid robots: A sensor-based control approach, in: Workshop on Multimodal Sensor-based Control for HRI and soft manipulation, IROS'2016, Daejeon, South Korea, October 2016.
    https://hal.inria.fr/hal-01408422
  • 66A. Magassouba, N. Bertin, F. Chaumette.
    First applications of sound-based control on a mobile robot equipped with two microphones, in: IEEE Int. Conf. on Robotics and Automation, ICRA'16, Stockholm, Sweden, May 2016.
    https://hal.inria.fr/hal-01277589
  • 67R. Martins, E. Fernandez-Moral, P. Rives.
    Adaptive Direct RGB-D Registration and Mapping for Large Motions, in: Asian Conference on Computer Vision, ACCV 2016, Taipei, Taiwan, November 2016.
    https://hal.inria.fr/hal-01403953
  • 68R. Martins, P. Rives.
    Increasing the Convergence Domain of RGB-D Direct Registration Methods for Vision-based Localization in Large Scale Environments, in: Workshop on Planning, Perception and Navigation for Intelligent Vehicles – IEEE Intelligent Transportation Systems Conference, ITSC PPNIV, Rio de Janeiro, Brazil, November 2016.
    https://hal.inria.fr/hal-01403961
  • 69C. Park, J. S. Park, S. Tonneau, N. Mansard, F. Multon, J. Pettré, D. Manocha.
    Dynamically balanced and plausible trajectory planning for human-like characters, in: 20th ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games, Redmond, United States, ACM, February 2016, pp. 39-48. [ DOI : 10.1145/2856400.2856405 ]
    https://hal.inria.fr/hal-01290368
  • 70P. Patlan-Rosales, A. Krupa.
    Automatic palpation for quantitative ultrasound elastography by visual servoing and force control, in: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'16, Daejeon, South Korea, October 2016, pp. 2357-2362.
    https://hal.inria.fr/hal-01355406
  • 71S. Raj Bista, P. Robuffo Giordano, F. Chaumette.
    Appearance-based Indoor Navigation by IBVS using Mutual Information, in: IEEE Int. Conf. on Control, Automation, Robotics and Vision, ICARCV 2016, Phuket, Thailand, November 2016.
    https://hal.inria.fr/hal-01355382
  • 72F. Schiano, A. Franchi, D. Zelazo, P. Robuffo Giordano.
    A Rigidity-Based Decentralized Bearing Formation Controller for Groups of Quadrotor UAVs, in: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, South Korea, October 2016, pp. 5099-5106.
    https://hal.archives-ouvertes.fr/hal-01348543
  • 73R. Spica, P. Robuffo Giordano.
    Active Decentralized Scale Estimation for Bearing-Based Localization, in: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'16, Daejeon, South Korea, October 2016.
    https://hal.inria.fr/hal-01355789
  • 74W. Van Toll, R. Triesscheijn, M. Kallmann, R. Oliva, N. Pelechano, J. Pettré, R. Geraerts.
    A comparative study of navigation meshes, in: MIG '16 - 9th International Conference on Motion in Games, San Francisco, United States, ACM, October 2016, pp. 91 - 100. [ DOI : 10.1145/2994258.2994262 ]
    https://hal.inria.fr/hal-01392267
  • 75A. Yol, E. Marchand, F. Chaumette, K. Kanani, T. Chabot.
    Vision-based navigation in low earth orbit, in: Int. Symp. on Artificial Intelligence, Robotics and Automation in Space, i-SAIRAS'16, Beijing, China, June 2016.
    https://hal.inria.fr/hal-01304728

Conferences without Proceedings

  • 76S. Briot, F. Chaumette, P. Martinet.
    Revisiting the determination of the singularity cases in the visual servoing of image points through the concept of “hidden robot”, in: 2017 IEEE International Conference on Robotics and Automation (ICRA 2017), Singapour, Singapore, May 2017.
    https://hal.archives-ouvertes.fr/hal-01435810

Scientific Books (or Scientific Book chapters)

  • 77F. Chaumette, S. Hutchinson, P. Corke.
    Visual Servoing, in: Handbook of Robotics, 2nd edition, B. Siciliano, O. Khatib (editors), Springer, 2016, pp. 841-866.
    https://hal.inria.fr/hal-01355384
  • 78M. OURAK, B. Tamadazte, N. Andreff, É. Marchand.
    Multimodal Image Registration and Visual Servoing, in: Lecture Notes in Electrical Engineering, Springer, July 2016, vol. 383, pp. 157 - 175. [ DOI : 10.1007/978-3-319-31898-1_9 ]
    https://hal.inria.fr/hal-01433996

Internal Reports

  • 79S. Briot, P. Martinet, F. Chaumette.
    Technical Report associated with the Paper: "Determining the Singularities for the Observation of Three Image Lines", IRCCyN ; IRISA, November 2016.
    https://hal.archives-ouvertes.fr/hal-01400575

Other Publications

  • 80D. J. Agravante, F. Chaumette.
    Combining visual servoing and walking in an acceleration resolved whole-body control framework, June 2016, Journées Nationales de la Recherche Humanoïde, Toulouse, France.
    https://hal.inria.fr/hal-01358639
  • 81G. Claudio, D. J. Agravante, F. Spindler, F. Chaumette.
    Dual arm manipulation and whole body control with the humanoid robot Romeo by visual servoing, June 2016, Journées Nationales de la Recherche Humanoïde, Toulouse, France.
    https://hal.inria.fr/hal-01358124

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