Simon-Pierre Deschênes

Simon-Pierre Deschênes
Laval University | ULAVAL · Department of Computer Science

B. Eng. Software Engineering

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8
Publications
1,774
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23
Citations

Publications

Publications (8)
Preprint
Full-text available
Challenges inherent to autonomous wintertime navigation in forests include lack of reliable a Global Navigation Satellite System (GNSS) signal, low feature contrast, high illumination variations and changing environment. This type of off-road environment is an extreme case of situations autonomous cars could encounter in northern regions. Thus, it...
Preprint
Registration algorithms, such as Iterative Closest Point (ICP), have proven effective in mobile robot localization algorithms over the last decades. However, they are susceptible to failure when a robot sustains extreme velocities and accelerations. For example, this kind of motion can happen after a collision, causing a point cloud to be heavily s...
Article
Full-text available
In subarctic and arctic areas, large and heavy skid-steered robots are preferred for their robustness and ability to operate on difficult terrain. State estimation, motion control and path planning for these robots rely on accurate odome-try models based on wheel velocities. However, the state-of-the-art odometry models for skid-steer mobile robots...
Preprint
In subarctic and arctic areas, large and heavy skid-steered robots are preferred for their robustness and ability to operate on difficult terrain. State estimation, motion control and path planning for these robots rely on accurate odometry models based on wheel velocities. In subarctic and arctic areas, large and heavy skid-steered robots are pref...
Preprint
Full-text available
In a context of 3D mapping, it is very important to get accurate measurements from sensors. In particular, Light Detection And Ranging (LIDAR) measurements are typically treated as a zero-mean Gaussian distribution. We show that this assumption leads to predictable localisation drifts, especially when a bias related to measuring obstacles with high...

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