Rigid and articulated point registration with expectation conditional maximization
This paper addresses the issue of matching rigid and articulated shapes through probabilistic
point registration. The problem is recast into a missing data framework where unknown …
point registration. The problem is recast into a missing data framework where unknown …
Efficient GPU-based construction of occupancy grids using several laser range-finders
Building Occupancy Grids (OGs) in order to model the surrounding environment of a vehicle
requires the fusion of occupancy information provided by the different embedded sensors in …
requires the fusion of occupancy information provided by the different embedded sensors in …
Update policy of dense maps: Efficient algorithms and sparse representation
Providing a robot with a fully detailed map is one appealing key for the Simultaneous
Localisation and Mapping (SLAM) problem. It gives the robot a lot of hints to solve either the data …
Localisation and Mapping (SLAM) problem. It gives the robot a lot of hints to solve either the data …
An efficient formulation of the Bayesian occupation filter for target tracking in dynamic environments
…, K Mekhnacha, C Chen, M Yguel… - … Journal of Vehicle …, 2008 - inderscienceonline.com
The Bayesian Occupation Filter (BOF) has proven successful for target tracking in the context
of automotive applications. This paper describes an improved BOF for target tracking with …
of automotive applications. This paper describes an improved BOF for target tracking with …
The Bayesian occupation filter
MK Tay, K Mekhnacha, M Yguel, C Coue… - … Reasoning and Decision …, 2008 - Springer
Introduction Perception of and reasoning about dynamic environments is pertinent for mobile
robotics and still constitutes one of the major challenges. To work in these environments, …
robotics and still constitutes one of the major challenges. To work in these environments, …
Wavelet occupancy grids: a method for compact map building
7 Conclusion and Future Works This paper introduces the structure of wavelet occupancy
grids (WavOGs) as a tool for storing occupancy grids in a compact way. We have shown that …
grids (WavOGs) as a tool for storing occupancy grids in a compact way. We have shown that …
Puvame-new french approach for vulnerable road users safety
O Aycard, A Spalanzani, M Yguel… - 2006 IEEE Intelligent …, 2006 - ieeexplore.ieee.org
In France, about 33% of roads victims are VRU. In its 3rd framework, the French PREDIT
includes VRU Safety. The PUVAME project was created to generate solutions to avoid …
includes VRU Safety. The PUVAME project was created to generate solutions to avoid …
Geometric and Bayesian models for safe navigation in dynamic environments
Autonomous navigation in open and dynamic environments is an important challenge, requiring
to solve several difficult research problems located on the cutting edge of the state of the …
to solve several difficult research problems located on the cutting edge of the state of the …
Grid based fusion of off-board cameras
M Yguel, O Aycard, D Raulo… - 2006 IEEE Intelligent …, 2006 - ieeexplore.ieee.org
In this paper, we describe the perception system, based on a grid environment model,
developed within the French project PUVAME. This system consists of several off-board cameras …
developed within the French project PUVAME. This system consists of several off-board cameras …
Steps towards safe navigation in open and dynamic environments
Autonomous navigation in open and dynamic environments is an important challenge, requiring
to solve several difficult research problems located on the cutting edge of the state of the …
to solve several difficult research problems located on the cutting edge of the state of the …