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6 results on '"Aymeric Bethencourt"'

1. 3D Reconstruction Using Interval Methods on the Kinect Device Coupled with an IMU

Author

Aymeric Bethencourt and Luc Jaulin

Subjects
Electronics, TK7800-8360, Electronic computers. Computer science, QA75.5-76.95
Abstract

The principle behind VSLAM applications like 3D object reconstruction or indoor mapping is to estimate the spatial transformation between two large clouds of points, which represent two poses of the same scene. They can further be processed to obtain detailed surfaces. Since its introduction in 1992, the standard algorithm for finding the alignment between two point clouds is ICP (Iterative Closest Point) and its variants, combined with RANSAC (RANdom SAmple Consensus). This paper presents a new approach using interval analysis. The idea is to define large intervals for the transformation parameters between the poses then to successively contract those intervals using the equations of the transformation of corresponding points between the poses. To contract those intervals faster, we added an IMU (Inertial Measurement Unit) to our system so the initial intervals of the parameters are already small before applying the contractions. We implemented our algorithm using the middleware ROS (Robot Operating System) and stated our performances.

Published
2013
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4. Cooperative localization of underwater robots with unsynchronized clocks

Author

Luc Jaulin, Aymeric Bethencourt, Lab-STICC_ENSTAB_CID_IHSEV, OSM, Département STIC [Brest] (STIC), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), and Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Technology, Computer science, Cognitive Neuroscience, Real-time computing, 0102 computer and information sciences, 02 engineering and technology, Interval (mathematics), Constraint satisfaction, 01 natural sciences, Sonar, Clock synchronization, Interval arithmetic, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science::Robotics, Behavioral Neuroscience, 020901 industrial engineering & automation, Developmental Neuroscience, Artificial Intelligence, Interval analysis, AUV, Constraint satisfaction problem, Human-Computer Interaction, 010201 computation theory & mathematics, Localization, Trajectory, Robot, Group of underwater robots
Abstract

This paper proposes an interval based approach for localizing a group of underwater robots with unsynchronized clocks. We use sonar communication and consider that the travel time of the sonar waves cannot be neglected, e.g. when the robots are fast and far-spaced. Therefore we cannot suppose that we measure a true distance between robots at the same time, but between robots at di􀉼erent times. Moreover, as the clocks of the robots are unsynchronized, the emitting and receiving times of the sonar waves are uncertain. To solve this problem, we cast the state equations of our robots as a constraint satisfaction problem and consider the sonar measurements as intertemporal constraints on uncertain times. We introduce the notion of interval of function to encompass the robots trajectory and clock with their uncertainty. We then use interval propagation to successively contract these intervals around the true position and clock of the robots. Several test cases are provided, with both simulated and experimental results.

Published
2013
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5. VAIMOS : Realization of an autonomous robotic sailboat

Author

Olivier Ménage, Patrick Rousseaux, Aymeric Bethencourt, Sébastien Prigent, Laboratoire de physique des océans (LPO), Institut de Recherche pour le Développement (IRD)-Institut Français de Recherche pour l'Exploitation de la Mer (IFREMER)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS), Lab-STICC_ENSTAB_CID_IHSEV, OSM, Département STIC [Brest] (STIC), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS), Institut Français de Recherche pour l'Exploitation de la Mer (IFREMER), and IFREMER - Laboratoire Provence Azur Corse

Subjects
0209 industrial biotechnology, Engineering, autonomous robotic sailboat, observation, human-machine interface, business.industry, Control engineering, 02 engineering and technology, 01 natural sciences, 010305 fluids & plasmas, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Robustness (computer science), 0103 physical sciences, Human–machine interface, Stepper motor, embedded systems, 14. Life underwater, measurements, business
Abstract

International audience; This paper demonstrates the relevance of using autonomous sailboats for the realization of long missions (several weeks) devoted to collecting measurements and observation of the marine environment at low cost. Ultimately, such a system should be used in place or in addition to current conventional systems such as drifting buoys or oceanogra…c ships. The paper introduces the electrical, mechanical and algorithmic realization of the sailboat and then demonstrates its robustness through several missions.

Published
2013
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6. 3D Reconstruction Using Interval Methods on The Kinect Device Coupled With an IMU

Author

Luc Jaulin, Aymeric Bethencourt, Lab-STICC_ENSTAB_CID_IHSEV, OSM, Département STIC [Brest] (STIC), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS), Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), and Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Computer science, Point cloud, lcsh:TK7800-8360, 02 engineering and technology, RANSAC, lcsh:QA75.5-76.95, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Interval Methods, 020901 industrial engineering & automation, Artificial Intelligence, Inertial measurement unit, 0202 electrical engineering, electronic engineering, information engineering, Computer vision, Contractors, Kinect, VSLAM, business.industry, lcsh:Electronics, 3D reconstruction, Iterative closest point, IMU, Computer Science Applications, Transformation (function), 020201 artificial intelligence & image processing, lcsh:Electronic computers. Computer science, Artificial intelligence, 3D Reconstruction, business, Software
Abstract

WOS; International audience; The principle behind VSLAM applications like 3D object reconstruction or indoor mapping is to estimate the spatial transformation between two large clouds of points, which represent two poses of the same scene. They can further be processed to obtain detailed surfaces. Since its introduction in 1992, the standard algorithm for finding the alignment between two point clouds is ICP (Iterative Closest Point) and its variants, combined with RANSAC (RANdom SAmple Consensus). This paper presents a new approach using interval analysis. The idea is to define large intervals for the transformation parameters between the poses then to successively contract those intervals using the equations of the transformation of corresponding points between the poses. To contract those intervals faster, we added an IMU (Inertial Measurement Unit) to our system so the initial intervals of the parameters are already small before applying the contractions. We implemented our algorithm using the middleware ROS (Robot Operating System) and stated our performances.

Published
2013
Full Text
View/download PDF

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