Perception de la géométrie de l'environnement pour la navigation autonome

Le but de de la recherche en robotique mobile est de donner aux robots la capacité d'accomplir des missions dans un environnement qui n'est pas parfaitement connu. Mission, qui consiste en l'exécution d'un certain nombre d'actions élémentaires (déplacement, manipulation d'objets...) et qui nécessite une localisation précise, ainsi que la construction d'un bon modèle géométrique de l'environnement, a partir de l'exploitation de ses propres capteurs, des capteurs externes, de l'information provenant d'autres robots et de modèle existant, par exemple d'un système d'information géographique. L'information commune est la géométrie de l'environnement. La première partie du manuscrit couvre les différents méthodes d'extraction de l'information géométrique. La seconde partie présente la création d'un modèle géométrique en utilisant un graphe, ainsi qu'une méthode pour extraire de l'information du graphe et permettre au robot de se localiser dans l'environnement.The goal of the mobile robotic research is to give robots the capability to accomplish missions in an environment that might be unknown. To accomplish his mission, the robot need to execute a given set of elementary actions (movement, manipulation of objects...) which require an accurate localisation of the robot, as well as a the construction of good geometric model of the environment. Thus, a robot will need to take the most out of his own sensors, of external sensors, of information coming from an other robot and of existing model coming from a Geographic Information System. The common information is the geometry of the environment. The first part of the presentation will be about the different methods to extract geometric information. The second part will be about the creation of the geometric model using a graph structure, along with a method to retrieve information in the graph to allow the robot to localise itself in the environment

Painting-to-3D Model Alignment Via Discriminative Visual Elements

International audienceThis paper describes a technique that can reliably align arbitrary 2D depictions of an architectural site, including drawings, paintings and historical photographs, with a 3D model of the site. This is a tremendously difficult task as the appearance and scene structure in the 2D depictions can be very different from the appearance and geometry of the 3D model, e.g., due to the specific rendering style, drawing error, age, lighting or change of seasons. In addition, we face a hard search problem: the number of possible alignments of the painting to a large 3D model, such as a partial reconstruction of a city, is huge. To address these issues, we develop a new compact representation of complex 3D scenes. The 3D model of the scene is represented by a small set of discriminative visual elements that are automatically learnt from rendered views. Similar to object detection, the set of visual elements, as well as the weights of individual features for each element, are learnt in a discriminative fashion. We show that the learnt visual elements are reliably matched in 2D depictions of the scene despite large variations in rendering style (e.g. watercolor, sketch, historical photograph) and structural changes (e.g. missing scene parts, large occluders) of the scene. We demonstrate an application of the proposed approach to automatic re-photography to find an approximate viewpoint of historical paintings and photographs with respect to a 3D model of the site. The proposed alignment procedure is validated via a human user study on a new database of paintings and sketches spanning several sites. The results demonstrate that our algorithm produces significantly better alignments than several baseline methods

Engineering Semantic Self-composition of Services Through Tuple-Based Coordination

Service self-composition is a well-understood research area focusing on service-based applications providing new services by automatically combining pre-existing ones. In this paper we focus on tuple-based coordination, and propose a solution leveraging logic tuples and tuple spaces to support semantic self-composition for services. A full-stack description of the solution is provided, ranging from a theoretical formalisation to a technologically valuable design and implementation

Digital Library Services for Three-Dimensional Models

With the growth in computing, storage and networking infrastructure, it is becoming increasingly feasible for multimedia professionals—such as graphic designers in commercial, manufacturing, scientific and entertainment areas—to work with 3D digital models of the objects with which they deal in their domain. Unfortunately most of these models exist in individual repositories, and are not accessible to geographically distributed professionals who are in need of them. Building an efficient digital library system presents a number of challenges. In particular, the following issues need to be addressed: (1) What is the best way of representing 3D models in a digital library, so that the searches can be done faster? (2) How to compress and deliver the 3D models to reduce the storage and bandwidth requirements? (3) How can we represent the user\u27s view on similarity between two objects? (4) What search types can be used to enhance the usability of the digital library and how can we implement these searches, what are the trade-offs? In this research, we have developed a digital library architecture for 3D models that addresses the above issues as well as other technical issues. We have developed a prototype for our 3D digital library (3DLIB) that supports compressed storage, along with retrieval of 3D models. The prototype also supports search and discovery services that are targeted for 3-D models. The key to 3DLIB is a representation of a 3D model that is based on “surface signatures”. This representation captures the shape information of any free-form surface and encodes it into a set of 2D images. We have developed a shape similarity search technique that uses the signature images to compare 3D models. One advantage of the proposed technique is that it works in the compressed domain, thus it eliminates the need for uncompressing in content-based search. Moreover, we have developed an efficient discovery service consisting of a multi-level hierarchical browsing service that enables users to navigate large sets of 3D models. To implement this targeted browsing (find an object that is similar to a given object in a large collection through browsing) we abstract a large set of 3D models to a small set of representative models (key models). The abstraction is based on shape similarity and uses specially tailored clustering techniques. The browsing service applies clustering recursively to limit the number of key models that a user views at any time. We have evaluated the performance of our digital library services using the Princeton Shape Benchmark (PSB) and it shows significantly better precision and recall, as compared to other approaches