,
118 4.2 ´ Etat de l'art de la localisation en milieu industriel, p.119 ,
,
, Contraintes de l'environnement par rapport aux solutions existantes, p.121
121 4.3.1 Notions sur la théorie de la localisation ,
2 Caractéristiques de la fonction de vraisemblance ,
,
, Chapitre 5
142 5.2.1 Approches non-conventionnelles pour la localisation, Bilan et Perspectives Sommaire ,
145 5.3.1 Utilisation des moyens issus des projets existants ,
, Bilan Dans ce document, j'ai donné un aperçu de mes activités pédagogiques, administratives et de mes travaux de recherche pour la période 2010-2018. Mes recherches sont principalement focalisées sur la localisation pour le véhicule autonome
, Je me suis intéressé aux différentes facettes de la localisation : odométrie visuelle, Structure from Motion, place recognition et leur implémentation sur des architectures embarquées
ces travaux ont fait l'objet de publications dans dix revues internationales avec comité de lecture, dans une vingtaine de conférences et ont conduitàconduità quatre soutenances de thèses que j'ai co-encadrées. Ces recherches ontétéontété menées au travers d'une dizaine de projets, qu'ils soient régionaux, nationaux ou encore internationaux. Par ailleurs, 'un ROV par vision fisheye ,
, Informatique et Systèmes) de l'IRSEEM en, 2006.
, Dans ce qui suit, je présenterai le bilan de ces différents travaux et dresserai les perspectives de recherche qui me semblent intéressantes
, Approches non-conventionnelles pour la localisation Plusieurs de mes travaux ontétéontété consacrésconsacrésà des approches d'imagerie non-conventionnelles pour la localisation des systèmes mobiles : je me suis intéressé dans un premier temps aux capteurs catadioptriques, notamment par mes travaux de thèses, puis aux systèmes de vision 1, 2018.
, ensuité elargi ce champàchampà l'imagerie infrarouge au travers de la thèse de Fabien Bonardi [Th4] sur la localisation visuelle multimodale (visible-infrarouge) ` a long terme, Je souhaite maintenant poursuivre ces recherches en proposant des méthodes d'odométrie
, Il existe quelques méthodes d'odométrie visuelle pour les caméras plénoptiques, vol.148
, mais ces méthodes ontétéontété développées pour des matrices de caméras avec de "grandes" baselines. Nous proposons dans nos travaux d'utiliser de véritables caméras plénoptiques, c'est-` a-dire disposant d'une matrice de micro-lentilles
, Solutions minimales pour l'estimation de pose Mes travaux de recherche menés sur les solutions minimales ont permis d'aboutiràaboutirà des
nous utilisons les informations sur l'attitude du drone qui peuventêtre peuventêtre obtenues par exemple grâcè a une centrale inertielle pour réduire le nombre d ,
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