(. Inria, L. , and L. ,

. , 118 4.2 ´ Etat de l'art de la localisation en milieu industriel, p.119

. .. Slam-et-localisation,

, Contraintes de l'environnement par rapport aux solutions existantes, p.121

. .. Méthodologie, 121 4.3.1 Notions sur la théorie de la localisation

. .. Résultats-expérimentaux, 2 Caractéristiques de la fonction de vraisemblance

. .. Conclusion,

, Chapitre 5

. .. Bilan, 142 5.2.1 Approches non-conventionnelles pour la localisation, Bilan et Perspectives Sommaire

. .. Moyens-mis-en-oeuvre-pour-développer-le-projet, 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

D. 'un-point-de-vue-quantitatif, 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

T. Dans-ces, 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

, Critical Reasons for Crashes Investigated in the National Motor Vehicle Crash Causation Survey, février, National Highway Traffic Safety Administration, 2015.

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