7 accepted papers
This letter presents a novel, efficient, vision-based technique to estimate the attitude of Powered Two-Wheeled Vehicles (P2WV) with respect to the road surface. This method is based only on a monocular camera fixed on the vehicle. The estimation is done in two steps. The first step relies on a nove
In the automotive industry, several robots are required to simultaneously carry out welding sequences on the same vehicle. Coordinating and assigning welding points between robots is a manual and difficult phase that needs to be optimized using automatic tools. The cycle time of the cell strongly de
Industrial robots are programmed to repeat a sequence of well-defined tasks, e.g. deburring, cutting and welding. The production cycle time is directly influenced by the task order as well as the way trajectories linking this tasks are generated. In this letter, we present an optimization approach t
This paper introduces a Wearable SLAM system that performs indoor and outdoor SLAM in real time. The related project is part of the MALIN challenge which aims at creating a system to track emergency response agents in complex scenarios (such as dark environments, smoked rooms, repetitive patterns, b…
This paper presents new schemes to estimate 3D rotation from spherical images. Unlike existing approaches, spherical moment properties are exploited to obtain a closed form solution without iteratively mimimizing a cost function. Actually, three methods using spherical moments are proposed: two of t…
This letter presents an image-based approach to simultaneously estimate the lateral position of a powered-two-wheeled vehicle on the road, its steering behavior and predict the road curvature ahead of the motorcycle. This letter is based on the inverse perspective mapping technique combined with a r
This paper presents a novel rotation estimation approach based on 3D mesh representation of spherical images. Indeed, unit sphere is becoming a natural space for projecting images captured from the central cameras (conventional and non-conventional cameras, as omnidirectional camera) and obtaining t…