SIMOND , Nicolas

The thesis deals with mobile robots in the specific context of urban environment. We want to extract the maximum of data on the motion of an uncalibrated stereo-rig embedded in a vehicle with in a structured environment. The aim of this study is to estimate the motion of a vehicle when the localization is impossible with a satellite position...

The development of the Autonomous Guided Vehicles (AGVs) with urban applications are now possible due to the recent solutions (DARPA Grand Challenge) developed to solve the Simultaneous Localization And Mapping (SLAM) problem: perception, path planning and control. For the last decade, the introduction of GPS systems and vision have been...

This paper describes an original method to compute the relative motion of an uncalibrated stereo rig in urban environments from features lying on the road. The extraction of significant reliable features on the road remains the critical step of this method. We nevertheless detect them according to the stereo constraints and an a priori...

Cet article décrit un algorithme de segmentation du plan de la route dans des images de scènes urbaines. Nous supposons que l'environnement contient une majorité de contours alignés selon les 3 directions principales. L'algorithme se décompose en deux étapes. La première détecte conjointement les lignes de fuite qui convergent vers le point de...

In this paper, we address the problem of computing the ego-motion of a vehicle in an urban environment using dynamic vision. We assume a planar piecewise world where the planes are mainly distributed along three principal directions corresponding to the axes of a reference frame linked to the ground plane with a vertical z-axis. We aim to...