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projects
Trajectory and intention forecasting
Recent developments in autonomous driving have led to very effective vehicles that can coexist with legacy, connected and other autonomous cars while obeying the road rules. One of the main challenges for autonomous cars is to reach coexistence with pedestrians and cyclists in a safe but efficient manner, which implies being able to foresee the street users intentions/future motions in the short and mid term.
Formation control for quadricopters
In this project, we design algorithms to control quadcopters formations in a distributed way, using consensus theory. One of the main difficulties is that the trajectories of the quadcopters should be without collision, with either static obstacles in the environment or with other quadcopters.
Visually-guided Humanoid Walking Pattern Generation
In this project, we show how visual constraints such as homographies and fundamental matrices can be integrated tightly into the locomotion controller of a humanoid robot to drive it from one configuration to another, only by means of images
Towards Ubiquitous Autonomous Driving: The CCSAD Dataset
Several online real-world stereo datasets exist for the development and testing of algorithms in the fields of perception and navigation of autonomous vehicles. However, none of them was recorded in developing countries, and therefore they lack the particular challenges that can be found on their streets and roads, like abundant potholes, irregular speed bumpers, and peculiar flows of pedestrians. We introduce a novel dataset that possesses such characteristics.
publications
A Smart Sensor based Visual Landmarks Detection for Indoor Robot Navigation
Published in the proceedings of Proc. IEEE Int. Conf. on Pattern Recognition (ICPR), 2002
Recommended citation: N. Arana, F. Lerasle, M. Briot, C. Lemaire, J.B. Hayet, "A Smart Sensor based Visual Landmarks Detection for Indoor Robot Navigation." the proceedings of Proc. IEEE Int. Conf. on Pattern Recognition (ICPR), 2002.
A Visual Landmark Framework for Indoor Mobile Robot Navigation
Published in the proceedings of Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), 2002
Recommended citation: J.B. Hayet, F. Lerasle, M. Devy, "A Visual Landmark Framework for Indoor Mobile Robot Navigation." the proceedings of Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), 2002.
Qualitative environment modeling with cooperating visual and range sensors
Published in the proceedings of Proc. IEEE/RSJ Int. Conf. on Intelligent Robots ansd Systems (IROS), 2002
Recommended citation: J.B. Hayet, C. Esteves, M. Devy, F. Lerasle, "Qualitative environment modeling with cooperating visual and range sensors." the proceedings of Proc. IEEE/RSJ Int. Conf. on Intelligent Robots ansd Systems (IROS), 2002.
Topological navigation and Qualitative localization for indoor environment using Multisensory perception
Published in Robotics and Autonomous Systems, 2002
Recommended citation: P. Ranganathan, J.B. Hayet, M. Devy, F. Lerasle, "Topological navigation and Qualitative localization for indoor environment using Multisensory perception." Robotics and Autonomous Systems, 2002.
Environment Modeling for Topological Navigation using Visual Landmarks and Range Data
Published in the proceedings of Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), 2003
Recommended citation: J. Carbajo, F. Lerasle, M. Devy, J.B. Hayet, "Environment Modeling for Topological Navigation using Visual Landmarks and Range Data." the proceedings of Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), 2003.
Visual landmarks detection and recognition for mobile robot navigation
Published in the proceedings of Proc. IEEE Int. Conf. on Computer Vision and Pattern Recognition (CVPR03), 2003
Recommended citation: J.B. Hayet, M. Devy, F. Lerasle, "Visual landmarks detection and recognition for mobile robot navigation." the proceedings of Proc. IEEE Int. Conf. on Computer Vision and Pattern Recognition (CVPR03), 2003.
Face tracking and hand gesture recognition for human robot interaction
Published in the proceedings of Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), 2004
Recommended citation: L. Brethes, P. Menezes, F. Lerasle, J.B. Hayet, "Face tracking and hand gesture recognition for human robot interaction." the proceedings of Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), 2004.
Robust incremental rectification of sports video sequences
Published in the proceedings of Proc. of British Machine Vision Conference (BMVC), 2004
Recommended citation: J.B. Hayet, J. Piater, J. Verly, "Robust incremental rectification of sports video sequences." the proceedings of Proc. of British Machine Vision Conference (BMVC), 2004.
Rapid 2D Model-to-image Registration Using Vanishing Points for Sports Video Analysis
Published in the proceedings of Proc. of IEEE Conf. on Image Processing (ICIP), 2005
Recommended citation: J.B. Hayet, J. Piater, J. Verly, "Rapid 2D Model-to-image Registration Using Vanishing Points for Sports Video Analysis." the proceedings of Proc. of IEEE Conf. on Image Processing (ICIP), 2005.
A Visual Landmark Framework for Mobile Robot Navigation
Published in Image and Vision Computing, 2007
Recommended citation: J.B. Hayet, F. Lerasle, M. Devy, "A Visual Landmark Framework for Mobile Robot Navigation." Image and Vision Computing, 2007.
Motion Planning for a Vigilant Humanoid Robot
Published in the proceedings of Proc. of IEEE-RAS Int. Conf. on Humanoids (Humanoids), 2009
Recommended citation: J.B. Hayet, C. Esteves, G. Arechavaleta, E. Yoshida, "Motion Planning for a Vigilant Humanoid Robot." the proceedings of Proc. of IEEE-RAS Int. Conf. on Humanoids (Humanoids), 2009.
Local properties of the shortest length paths for a differential drive robot keeping a set of landmarks in sight
Published in Journal of Intelligent and Robotic Systems, 2011
Recommended citation: J.B. Hayet, "Local properties of the shortest length paths for a differential drive robot keeping a set of landmarks in sight." Journal of Intelligent and Robotic Systems, 2011.
A motion-capture based planner for virtual characters navigating in 3D environments
Published in Computacion y Sistemas, 2012
Recommended citation: J.C. Mena, J.B. Hayet, C. Esteves, "A motion-capture based planner for virtual characters navigating in 3D environments." Computacion y Sistemas, 2012. http://www.scielo.org.mx/scielo.php?pid=S1405-55462012000400003&script=sci_arttext
An active strategy for the simultaneous localization and reconstruction of a 3D object from a humanoid platform
Published in the proceedings of Proc. of IEEE-RAS Int. Conf. on Humanoids (Humanoids), 2012
Recommended citation: J. Delfin, O. Mar, J.B. Hayet, M. Castelan, G. Arechavaleta, "An active strategy for the simultaneous localization and reconstruction of a 3D object from a humanoid platform." the proceedings of Proc. of IEEE-RAS Int. Conf. on Humanoids (Humanoids), 2012.
Humanoid locomotion planning for visually-guided tasks
Published in International Journal of Humanoid Robotics, 2012
Recommended citation: J.B. Hayet, C. Esteves, G. Arechavaleta, O. Stasse, E. Yoshida, "Humanoid locomotion planning for visually-guided tasks." International Journal of Humanoid Robotics, 2012.
Robust extrinsic camera calibration from trajectories in human-populated environments
Published in Computacion y Sistemas, 2012
Recommended citation: G. Baqueiro, J.B. Hayet, "Robust extrinsic camera calibration from trajectories in human-populated environments." Computacion y Sistemas, 2012.
Learning depth from appearance for fast one-shot 3-D map initialization in VSLAM systems
Published in the proceedings of Proc. of the IEEE Int. Conf. on Robotics and Automation, ISBN: 978-1-4673-5641-1, 2013
Recommended citation: S. Mota-Gutierrez, J.B. Hayet, S. Ruiz-Correa, R. Hasimoto-Beltran, C. Zubieta-Rico, "Learning depth from appearance for fast one-shot 3-D map initialization in VSLAM systems." the proceedings of Proc. of the IEEE Int. Conf. on Robotics and Automation, ISBN: 978-1-4673-5641-1, 2013.
Vision-based motion primitives for reactive walking
Published in the proceedings of IEEE International Conference on Humanoid robots, ISBN: 978-1-4799-2617-6, 2013
Recommended citation: Mauricio Vazquez, Jean-Bernard Hayet, Olivier Stasse, Claudia Esteves, Jean-Paul Laumond, "Vision-based motion primitives for reactive walking." the proceedings of IEEE International Conference on Humanoid robots, ISBN: 978-1-4799-2617-6, 2013.
A single visual-servo controller of mobile robots with super-twisting control
Published in Robotics and Autonomous Systems, 2014
Recommended citation: H.M. Becerra, J.B. Hayet, C. Sagüés, "A single visual-servo controller of mobile robots with super-twisting control." Robotics and Autonomous Systems, 2014.
Improving multiple pedestrians tracking with semantic information
Published in Signal, Image and Video Processing, 2014
Recommended citation: Francisco Madrigal, Jean-Bernard Hayet, Frédéric Lerasle, "Improving multiple pedestrians tracking with semantic information." Signal, Image and Video Processing, 2014.
Intention-Aware Multiple Pedestrian Tracking
Published in the proceedings of Proc. of Int. Conf on Pattern Recognition (ICPR), ISBN: 9781479952106, 2014
Recommended citation: F. Madrigal, J.B. Hayet, F. Lerasle, "Intention-Aware Multiple Pedestrian Tracking." the proceedings of Proc. of Int. Conf on Pattern Recognition (ICPR), ISBN: 9781479952106, 2014. http://ieeexplore.ieee.org/document/6977419
Motion planning for maintaining landmarks visibility with a differential drive robot
Published in Robotics and Autonomous Systems, 2014
Recommended citation: Jean-Bernard Hayet, Hugo Carlos, Claudia Esteves, Rafael Murrieta-Cid, "Motion planning for maintaining landmarks visibility with a differential drive robot." Robotics and Autonomous Systems, 2014.
Toward Reactive Vision-Guided Walking on Rough Terrain: An Inverse-Dynamics Based Approach
Published in International Journal of Humanoid Robotics, 2014
Recommended citation: Oscar Ramos, Mauricio García, Nicolas Mansard, Olivier Stasse, Jean-Bernard Hayet, Philippe Souères, "Toward Reactive Vision-Guided Walking on Rough Terrain: An Inverse-Dynamics Based Approach." International Journal of Humanoid Robotics, 2014.
Vision-driven walking pattern generation for humanoid reactive walking
Published in the proceedings of Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA), ISBN: 9781479936861, 2014
Recommended citation: Mauricio Garcia, Olivier Stasse, Jean-Bernard Hayet, "Vision-driven walking pattern generation for humanoid reactive walking." the proceedings of Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA), ISBN: 9781479936861, 2014. https://ieeexplore.ieee.org/document/6906612
Visual navigation of wheeled mobile robots using direct feedback of a geometric constraint
Published in Autonomous Robots, 2014
Recommended citation: Héctor Becerra, Carlos Sagüés, Youcef Mezouar, Jean-Bernard Hayet, "Visual navigation of wheeled mobile robots using direct feedback of a geometric constraint." Autonomous Robots, 2014.
Cooperative SLAM-based object transportation by two humanoid robots in a cluttered environment
Published in the proceedings of 15th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2015, Seoul, South Korea, November 3-5, 2015, 2015
Recommended citation: Antoine Rioux, Claudia Esteves, Jean-Bernard Hayet, Wael Suleiman, "Cooperative SLAM-based object transportation by two humanoid robots in a cluttered environment." the proceedings of 15th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2015, Seoul, South Korea, November 3-5, 2015, 2015. https://hal.archives-ouvertes.fr/hal-01521583/document
Goal-oriented visual tracking of pedestrians with motion priors in semi-crowded scenes
Published in the proceedings of Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2015
Recommended citation: Francisco Madrigal, Jean-Bernard Hayet, "Goal-oriented visual tracking of pedestrians with motion priors in semi-crowded scenes." the proceedings of Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2015. https://ieeexplore.ieee.org/document/7139258
Motion priors for multiple target visual tracking
Published in Machine Vision and Applications, 2015
Recommended citation: Francisco Madrigal, Jean-Bernard Hayet, Mariano Rivera, "Motion priors for multiple target visual tracking." Machine Vision and Applications, 2015. http://dx.doi.org/10.1007/s00138-015-0662-5
Towards Ubiquitous Autonomous Driving: The CCSAD Dataset
Published in the proceedings of Computer Analysis of Images and Patterns, 2015
Recommended citation: Roberto Guzmán, Jean-Bernard Hayet, Reinhard Klette, "Towards Ubiquitous Autonomous Driving: The CCSAD Dataset." the proceedings of Computer Analysis of Images and Patterns, 2015.
Vision-guided motion primitives for humanoid reactive walking: Decoupled versus coupled approaches
Published in Int. J. on Robotic Research, 2015
Recommended citation: Mauricio Vazquez, Olivier Stasse, Jean-Bernard Hayet, Claire Dune, Claudia Esteves, Jean-Paul Laumond, "Vision-guided motion primitives for humanoid reactive walking: Decoupled versus coupled approaches." Int. J. on Robotic Research, 2015. http://dx.doi.org/10.1177/0278364914550891
Comparison of Local Descriptors for Humanoid Robots Localization Using a Visual Bag of Words Approach
Published in Intelligent Automation and Soft Computing, 2017
Recommended citation: N.G. Aldana-Murillo, J-B. Hayet, H.M. Becerra, "Comparison of Local Descriptors for Humanoid Robots Localization Using a Visual Bag of Words Approach." Intelligent Automation and Soft Computing, 2017. https://www.scopus.com/inward/record.uri?eid=2-s2.0-85017268529\&doi=10.1080\%2f10798587.2017.1304508\&partnerID=40\&md5=199112cf34f7e98a7135e5979e34693a
Cooperative Vision-Based Object Transportation by Two Humanoid Robots in a Cluttered Environment
Published in International Journal of Humanoid Robotics, 2017
Recommended citation: Antoine Rioux, Claudia Esteves, Jean-Bernard Hayet, Wael Suleiman, "Cooperative Vision-Based Object Transportation by Two Humanoid Robots in a Cluttered Environment." International Journal of Humanoid Robotics, 2017. http://www.worldscientific.com/doi/abs/10.1142/S0219843617500189
Motion priors based on goals hierarchies in pedestrian tracking applications
Published in Machine Vision and Applications, 2017
Recommended citation: Francisco Madrigal, Jean-Bernard Hayet, "Motion priors based on goals hierarchies in pedestrian tracking applications." Machine Vision and Applications, 2017. https://doi.org/10.1007/s00138-017-0832-8
Probabilistic Global Scale Estimation for MonoSLAM Based on Generic Object Detection
Published in the proceedings of The IEEE Conference on Computer Vision and Pattern Recognition (CVPR) Workshops, 2017
Recommended citation: Edgar Sucar, Jean-Bernard Hayet, "Probabilistic Global Scale Estimation for MonoSLAM Based on Generic Object Detection." the proceedings of The IEEE Conference on Computer Vision and Pattern Recognition (CVPR) Workshops, 2017. https://openaccess.thecvf.com/content_cvpr_2017_workshops/w10/papers/Sucar_Probabilistic_Global_Scale_CVPR_2017_paper.pdf
An Analysis of Policies from Stochastic Linear Quadratic Gaussian in Robotics Problems with State- and Control-Dependent Noise
Published in Journal of Intelligent and Robotic Systems, 2018
Recommended citation: Hugo Carlos, Jean-Bernard Hayet, Rafael Murrieta-Cid, "An Analysis of Policies from Stochastic Linear Quadratic Gaussian in Robotics Problems with State- and Control-Dependent Noise." Journal of Intelligent and Robotic Systems, 2018. https://doi.org/10.1007/s10846-017-0736-x
Bayesian Scale Estimation for Monocular SLAM Based on Generic Object Detection for Correcting Scale Drift
Published in the proceedings of 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, May 21-25, 2018, 2018
Recommended citation: Edgar Sucar, Jean-Bernard Hayet, "Bayesian Scale Estimation for Monocular SLAM Based on Generic Object Detection for Correcting Scale Drift." the proceedings of 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, May 21-25, 2018, 2018. https://ieeexplore.ieee.org/document/8461178
Regression-Based Linear Quadratic Regulator
Published in the proceedings of 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, May 21-25, 2018, 2018
Recommended citation: Hugo Carlos, Jean-Bernard Hayet, Rafael Murrieta-Cid, "Regression-Based Linear Quadratic Regulator." the proceedings of 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, May 21-25, 2018, 2018. http://ieeexplore.ieee.org/document/8460479/
Social Ways: Learning Multi-Modal Distributions of Pedestrian Trajectories With GANs
Published in the proceedings of IEEE Conference on Computer Vision and Pattern Recognition Workshops, CVPR Workshops 2019, Long Beach, CA, USA, June 16-20, 2019, 2019
Recommended citation: Javad Amirian, Jean-Bernard Hayet, Julien Pettré, "Social Ways: Learning Multi-Modal Distributions of Pedestrian Trajectories With GANs." the proceedings of IEEE Conference on Computer Vision and Pattern Recognition Workshops, CVPR Workshops 2019, Long Beach, CA, USA, June 16-20, 2019, 2019. http://openaccess.thecvf.com/content\_CVPRW\_2019/html/Precognition/Amirian\_Social\_Ways\_Learning\_Multi-Modal\_Distributions\_of\_Pedestrian\_Trajectories\_With\_GANs\_CVPRW\_2019\_paper.html
Coupling humanoid walking pattern generation and visual constraint feedback for pose-regulation and visual path-following
Published in Robotics and Autonomous Systems, 2020
Recommended citation: Noé Aldana-Murillo, Luis Sandoval, Jean-Bernard Hayet, Claudia Esteves, Hector Becerra, "Coupling humanoid walking pattern generation and visual constraint feedback for pose-regulation and visual path-following." Robotics and Autonomous Systems, 2020. http://www.sciencedirect.com/science/article/pii/S0921889019306694
OpenTraj: Assessing Prediction Complexity in Human Trajectories Datasets
Published in the proceedings of Proceedings of the Asian Conference on Computer Vision (ACCV), 2020
Recommended citation: Javad Amirian, Bingqing Zhang, Francisco Castro, Juan Baldelomar, Jean-Bernard Hayet, Julien Pettre, "OpenTraj: Assessing Prediction Complexity in Human Trajectories Datasets." the proceedings of Proceedings of the Asian Conference on Computer Vision (ACCV), 2020. https://openaccess.thecvf.com/content/ACCV2020/papers/Amirian_OpenTraj_Assessing_Prediction_Complexity_in_Human_Trajectories_Datasets_ACCV_2020_paper.pdf
MPC-based distributed formation control of multiple quadcopters with obstacle avoidance and connectivity maintenance
Published in Control Engineering Practice, 2022
Recommended citation: Salim Vargas, Héctor Becerra, Jean-Bernard Hayet, "MPC-based distributed formation control of multiple quadcopters with obstacle avoidance and connectivity maintenance." Control Engineering Practice, 2022. https://www.sciencedirect.com/science/article/pii/S0967066121003002
SocialVAE: Human Trajectory Prediction Using Timewise Latents
Published in the proceedings of Computer Vision - ECCV 2022 - 17th European Conference, Tel Aviv, Israel, October 23-27, 2022, Proceedings, Part IV, 2022
Recommended citation: Pei Xu, Jean{-}Bernard Hayet, Ioannis Karamouzas, "SocialVAE: Human Trajectory Prediction Using Timewise Latents." the proceedings of Computer Vision - ECCV 2022 - 17th European Conference, Tel Aviv, Israel, October 23-27, 2022, Proceedings, Part IV, 2022. https://www.ecva.net/papers/eccv_2022/papers_ECCV/papers/136640504.pdf
Context-Aware Timewise VAEs for Real-Time Vehicle Trajectory Prediction
Published in IEEE Robotics and Automation Letters, 2023
Recommended citation: Pei Xu, Jean-Bernard Hayet, Ioannis Karamouzas, "Context-Aware Timewise VAEs for Real-Time Vehicle Trajectory Prediction." IEEE Robotics and Automation Letters, 2023. https://ieeexplore.ieee.org/document/10184422
teaching
Probabilistic Robotics
Lecture, CIMAT Master in Computer Science, CIMAT Master in Robotics, UG B.Sc. in Computational Mathematics, 2021
A course based on the material from the eponymous book by Thrun et al.
Computer vision II
Lecture, CIMAT Master in Computer Science, UG B.Sc. in Computational Mathematics, 2022
Computer vision I
Lecture, CIMAT Master in Computer Science, CIMAT Master in Robotics, UG B.Sc. in Computational Mathematics, 2022
A rather standard first course in Computer Vision, taught with my colleague T. Batard.
thesis
Vision-Based Locomotion For Humanoid Robots
Published:
Recommended citation: Mauricio García Vazquez. "Vision-Based Locomotion For Humanoid Robots". MSc. Thesis, CIMAT A.C., 2013. https://cimat.repositorioinstitucional.mx/jspui/bitstream/1008/344/2/TE%20508.pdf
Environment Perception For Autonomous Vehicles In Challenging Conditions Using Stereo Vision
Published:
Recommended citation: Roberto Guzman. "Environment Perception For Autonomous Vehicles In Challenging Conditions Using Stereo Vision". MSc. Thesis, CIMAT A.C., 2014. https://cimat.repositorioinstitucional.mx/jspui/bitstream/1008/346/2/TE%20512.pdf
Vision-Based Formation Control For Unmanned Aerial Vehicles
Published:
Recommended citation: Patricia Marisol del Carmen Tavares Ramírez. "Vision-Based Formation Control For Unmanned Aerial Vehicles". Msc. Thesis, CIMAT A.C., 2019. (co-advised with Héctor Manuel Becerra Fermín) https://cimat.repositorioinstitucional.mx/jspui/bitstream/1008/1005/1/TE%20728.pdf
Distributed model predictive control for formations of quadrotors
Published:
Recommended citation: Salim Vargas. "Distributed model predictive control for formations of quadrotors". Msc. Thesis, CIMAT A.C., 2020. (co-advised with Héctor Manuel Becerra Fermín) https://cimat.repositorioinstitucional.mx/jspui/bitstream/1008/1106/1/TE%20815.pdf
VAE models in trajectory prediction
Published:
Recommended citation: José Gallardo Monroy. "VAE models in trajectory prediction". MSc. Thesis, CIMAT A.C., 2020. https://www.cimat.mx/Aplicaciones/biblioteca/TD/Archivos/TE%20804.pdf
Contribuciones a la predicción de Trayectorias Haciendo Uso de Apariencia y Flujo Óptico
Published:
Recommended citation: Andre Berenice Ek Hobak. "Contribuciones a la predicción de Trayectorias Haciendo Uso de Apariencia y Flujo Óptico". MSc. Thesis, CIMAT A.C., 2021. https://www.cimat.mx/Aplicaciones/biblioteca/TD/Archivos/TE%20805.pdf
Visually-guided humanoid walking pattern generation
Published:
Recommended citation: Noe Guadalupe Aldana Murillo. "Visually-guided humanoid walking pattern generation". PhD. Thesis, CIMAT A.C., 2021. (co-advised with Héctor Manuel Becerra Fermín) https://cimat.repositorioinstitucional.mx/jspui/bitstream/1008/1122/1/TE%20828.pdf
Human Motion Trajectory Prediction for Robot Navigation
Published:
Recommended citation: Javad Amirian. "Human Motion Trajectory Prediction for Robot Navigation". PhD. Thesis, U. de Rennes 1, 2021. https://ged.univ-rennes1.fr/nuxeo/site/esupversions/640e1436-dc54-4211-86a1-b55ac74f719f?inline
Trajectory forecasting for autonomous vehicles
Published:
Recommended citation: Juan Luis Baldelomar Cabrera. "Trajectory forecasting for autonomous vehicles". MSc. Thesis, CIMAT A.C., 2023. https://www.cimat.mx/Aplicaciones/biblioteca/TD/Archivos/TE%20867.pdf