Anthony Remazeilles

Anthony Remazeilles
Tecnalia · Health Division

Doctor of Computer Science

About

45
Publications
5,428
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742
Citations

Publications

Publications (45)
Article
Full-text available
This study describes the software methodology designed for systematic benchmarking of bipedal systems through the computation of performance indicators from data collected during an experimentation stage. Under the umbrella of the European project Eurobench, we collected approximately 30 protocols with related testbeds and scoring algorithms, aimin...
Chapter
In the European project EUROBENCH, we are developing a framework for benchmarking the performances of bipedal systems: from humans to humanoids through wearable robots. Fair benchmarking requires defining and sharing clear and complete protocols so that bipedal systems can be studied and compared within similar and reproducible conditions. Even if...
Article
Full-text available
This study aims to evaluate different combinations of features and algorithms to be used in the control of a prosthetic hand wherein both the configuration of the fingers and the gripping forces can be controlled. This requires identifying machine learning algorithms and feature sets to detect both intended force variation and hand gestures in EMG...
Article
Full-text available
Deep learning methods have been successfully applied to image processing, mainly using 2D vision sensors. Recently, the rise of depth cameras and other similar 3D sensors has opened the field for new perception techniques. Nevertheless, 3D convolutional neural networks perform slightly worse than other 3D deep learning methods, and even worse than...
Preprint
Full-text available
Detection and description of keypoints from an image is a well-studied problem in Computer Vision. Some methods like SIFT, SURF or ORB are computationally really efficient. This paper proposes a solution for a particular case study on object recognition of industrial parts based on hierarchical classification. Reducing the number of instances leads...
Article
Full-text available
This article deals with the 2D image-based recognition of industrial parts. Methods based on histograms are well known and widely used, but it is hard to find the best combination of histograms, most distinctive for instance, for each situation and without a high user expertise. We proposed a descriptor subset selection technique that automatically...
Chapter
This paper is related to the observation of human operator manipulating objects for teaching a robot to reproduce the action. Assuming the robotic system is equipped with basic manipulation skills, we focus here on the automatic segmentation of the observed manipulation, for extracting the relevant key frames in which the manipulation is best descr...
Article
Full-text available
Detection and description of keypoints from an image is a well-studied problem in Computer Vision. Somemethods like SIFT, SURF or ORB are computationally really efficient. This paper proposes a solution fora particular case study on object recognition of industrial parts based on hierarchical classification. Re-ducing the number of instances leads...
Conference Paper
Full-text available
Detection and description of keypoints from an image is a well-studied problem in Computer Vision. Somemethods like SIFT, SURF or ORB are computationally really efficient. This paper proposes a solution fora particular case study on object recognition of industrial parts based on hierarchical classification. Re-ducing the number of instances leads...
Conference Paper
This paper describes a tool for generating ROS packages and nodes. Compared to the relatively basic traditional package creation method, this tool can generate a whole node structure, including its life-cycle and the exposed interface to other ROS nodes. Following a separation of concerns, the developer only defines the interaction means in a XML f...
Conference Paper
This article deals with the representation of the pivot point created when inserting an endoscope in the human body during a surgery application. Several robotic-based surgical solutions use the well-known spherical coordinates to define the pose of the robotic endoscope tip, since it can only represents motions that satisfy this single insertion p...
Article
Vision-based hand gesture recognition relies on the extraction of features describing the hand, and the appropriate set of features is usually selected in an empirical manner. We propose in this article a systematic selection of the best features to be considered. An iterative sequential forward feature selection (SFS) approach is proposed to combi...
Conference Paper
Full-text available
This article presents the implementation and ex-perimental validation of a control system dedicated to human robot physical interaction during object handovers. Our control law defines the trajectory of the robotic arm towards a previously unknown handover location based on the Dynamic Movement Primitives formalism adapted for human robot object ha...
Conference Paper
Full-text available
This article presents the design and execution of the experiments used to develop and evaluate a robot prototype system for fluent Human-Robot object handover interactions. A key aspect of our experimental methodology is the deep integration between Human-Robot and Human-Human object handover experiments. This provides a solid baseline and knowledg...
Conference Paper
Full-text available
In current society there is a growing call for robotic platforms designed to provide direct assistance to humans within the near future. An essential requirement, if robots are to become accepted as service providers that interact directly with humans, is that the human-robot interactions must not only be safe and reliable, but also produce a satis...
Conference Paper
Full-text available
This article presents the current state of an ongoing work on Human-Robot interaction in which two partners collaborate during an object hand-over interaction. The manipulator control is based on the Dynamic Movement Primitives model, specialized for the object hand-over context. The proposed modifications enable finer control of the dynamic of the...
Conference Paper
Full-text available
The FP7 European project Florence aims at investigating how current state of the art robotic technology can be used to support elderly to live longer independently at home. During the whole development for our robotic platform users and caregivers were strongly involved through focus groups, Wizard of Oz tests and functional validation within contr...
Chapter
Full-text available
While recent technological developments increasingly bring robots into people's life, improving individuals' productivity at work or easing their life at home, many elderly adults have not benefited of that societal change yet, therefore remaining excluded from the information society. Against this phenomenon, several innovative products have been...
Article
Full-text available
In this paper, the performance of a topological-metric visual-path-following framework is investigated in different environments. The framework relies on a monocular camera as the only sensing modality. The path is represented as a series of reference images such that each neighboring pair contains a number of common landmarks. Local 3-D geometries...
Article
Full-text available
Classical sensor-based control laws are based on the regulation of a set of features to a desired reference value. In this paper, we focus on the study of control laws whose feature set varies during the servo. In that case, we first show that the classical control laws that use an iterative least-square minimization are discontinuous. We then show...
Article
This paper presents a vision framework which enables feature-oriented appearance-based navigation in large outdoor environments containing other moving objects. The framework is based on a hybrid topological–geometrical environment representation, constructed from a learning sequence acquired during a robot motion under human control. At the higher...
Conference Paper
This paper deals with the design of a robotic platform providing a grasping procedure to assist disabled persons. Like most of the vision-based systems, the camera used to guide the arm toward the object is embedded onto the gripper, which gives a very local view of the environment. We propose to use a catadioptric sensor in order to deal with situ...
Conference Paper
Full-text available
This article presents a service robotic system for disabled people. SAM is a mobile platform that grasps any textured object in an apartment-like environment. The object grasping is realized with a robotic arm, mounted onto the mobile unit. Thanks to the stereo rig on the armpsilas gripper, the user defines the object to grasp on a remote screen, i...
Conference Paper
Cet article présente un système d’assistance robotique aux personnes présentant un handicap moteur. Une base mobile permet d’aller saisir un objet quelconque n’importe ou dans un environnement donné. La préhension s’effectue au moyen d’un bras robotisé doté d’un couple de webcams et monté sur la base. L’utilisateur définit de manière très simple l’...
Article
Full-text available
Abstract—This paper presents our contribution to vision based robotic assistance for people with disabilities. The rehabilitative robotic,arms,currently,available on,the,market,are,directly controlled by adaptive devices, which lead to increasing strain on the user’s disability. To reduce the need for user’s actions, we propose,here several vision-...
Article
Robot cars will likely play an important role in the future. In this paper a visual path following framework for urban environments is experimentally evaluated. The framework's hybrid topological-metric approach for representing the environment provides stable interest points for image-based visual servoing during navigation. The presented experime...
Conference Paper
Full-text available
In this paper the performance of a topological- metric visual path following framework is investigated in different environments. The framework relies on a monocular camera as the only sensing modality. The path is represented as a series of reference images such that each neighboring pair contains a number of common landmarks. Local 3D geometries...
Conference Paper
Full-text available
This document provides a summary to a short video with the same title. The video shows the French intelligent transportation vehicle CyCab performing visual path following using only monocular vision. All phases of the process are shown with a spoken commentary. In the teaching phase, the user drives the robot manually while images from the camera...
Conference Paper
Full-text available
This paper presents a monocular vision framework enabling feature-oriented appearance-based navigation in large outdoor environments containing other moving objects. The framework is based on a hybrid topological-geometrical environment representation, constructed from a learning sequence acquired during a robot motion under human control. The fram...
Article
We propose in this article a novel approach for vision-based control of a robotic system during a navigation task. This technique is based on a topological representation of the environment in which the scene is directly described within the sensor space, by an image database acquired off-line. Before each navigation task, a preliminary step consis...
Conference Paper
Full-text available
Autonomous cars will likely play an important role in the future. A vision system designed to support outdoor navigation for such vehicles has to deal with large dynamic environments, changing imaging conditions, and temporary occlusions by other moving objects. This paper presents a novel appearance-based navigation framework relying on a single p...
Article
Full-text available
This paper addresses the problem of vision-based navigation and proposes an original control law to perform such navigation. The overall approach is based on an appearance-based representation of the environment, where the scene is directly defined in the sensor space by a database of images acquired during a learning phase. Within this context, a...
Article
We propose in this article a novel approach for vision-based control of a robotic system during a navigation task. This technique is based on a topological representation of the environment in which the scene is directly described within the sensor space, by an image database acquired off-line. Before each navigation task, a preliminary step consis...
Article
Full-text available
The video shows the French intelligent transportation vehicle CyCab performing visual path following using only monocular vision. All phases of the process are shown with a spoken commentary. In the teaching phase, the user drives the robot manually while images from the camera are stored. Key images with corresponding images features are stored as...
Conference Paper
Full-text available
This paper describes an original control law called qualitative servoing. The particularity of this method is that no specific desired value is specified for the visual features involved in the control scheme. Indeed, visual features are only constrained to belong to a confident interval, which gives more flexibility to the system. While this forma...
Conference Paper
Full-text available
We consider the problem of tracking a given set of point features over large sequences of image frames. A classic procedure for monitoring the tracking quality consists in requiring that the current features nicely warp towards their reference appearances. The procedure recommends focusing on features projected from planar 3D patches (planar featur...
Conference Paper
Full-text available
This paper addresses the design of a control law for vision-based robot navigation. The method proposed is based on a topological representation of the environment. Within this context, a learning stage enables a graph to be built in which nodes represent views acquired by the camera, and edges denote the possibility for the robotic system to move...
Article
Full-text available
This paper describes an original control law called qualitative servoing. The particularity of this method is that no specific desired value is specified for the visual features involved in the control scheme. Indeed, visual features are only constrained to belong to a confident interval, which gives more flexibility to the system. While this forma...
Conference Paper
In this paper a new method is proposed to control a vision-based robot in large navigation spaces. In this case, visual features observed by an on-board camera can change drastically or even disappear completely between the initial image, as seen at the beginning of a task, and the final image, as seen at the desired position of the robot. These fe...
Article
This work deals with autonomous robotic navigation. A robotic system that moves on its own must be able to localise itself in the environment, so as to define a path to follow, and also to control its motion in order to reach a desired position. A vision based-approach is chosen, by onsidering robotic systems with an on-board camera. The navigation...
Article
Full-text available
The principal deficiency of image-based visual servoing is that the induced (3D) trajectories are not optimal and sometimes, especially when the displacement to realize is large, these trajectories are not physically valid leading to the failure of the servoing process. Furthermore, visual control needs a matching step between the features extracte...
Conference Paper
Full-text available
This article presents a new approach for robot motion control, using images acquired by an on-board camera. A particularity of this method is that it can avoid reconstructing the entire scene without limiting the displacements possible. To achieve this, an image base of the environment is used to describe the navigation space. We extract from this...
Article
Full-text available
Ce manuscrit traite de la navigation autonome de systèmes robotiques dotés d'une caméra embarquée. Pour qu'un robot mobile puisse se déplacer automatiquement, il doit être doté de fonctionnalités lui permettant de se localiser dans son environnement, de se définir un chemin à suivre, et de contrôler ses mouvements jusqu'à sa position désirée. Dans...

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Projects (4)
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