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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.

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.

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.

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.

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.

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

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.

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

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

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

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