Visual Servoing from Deep Neural Networks

We present a deep neural network-based method to perform high-precision, robust and real-time 6 DOF visual servoing. The paper describes how to create a dataset simulating various perturbations (occlusions and lighting conditions) from a single real-world image of the scene. A convolutional neural network is fine-tuned using this dataset to estimate the relative pose between two images of the same scene. The output of the network is then employed in a visual servoing control scheme. The method converges robustly even in difficult real-world settings with strong lighting variations and occlusions.A positioning error of less than one millimeter is obtained in experiments with a 6 DOF robot.Comment: fixed authors lis

Secure Autonomous UAVs Fleets by Using New Specific Embedded Secure Elements

International audienc

An efficient, secure and trusted channel protocol for avionics wireless networks

Avionics networks rely on a set of stringent reliability and safety requirements. In existing deployments, these networks are based on a wired technology, which supports these requirements. Furthermore, this technology simplifies the security management of the network since certain assumptions can be safely made, including the inability of an attacker to access the network, and the fact that it is almost impossible for an attacker to introduce a node into the network. The proposal for Avionics Wireless Networks (AWNs), currently under development by multiple aerospace working groups, promises a reduction in the complexity of electrical wiring harness design and fabrication, a reduction in the total weight of wires, increased customization possibilities, and the capacity to monitor otherwise inaccessible moving or rotating aircraft parts such as landing gear and some sections of the aircraft engines. While providing these benefits, the AWN must ensure that it provides levels of safety that are at minimum equivalent to those offered by the wired equivalent. In this paper, we propose a secure and trusted channel protocol that satisfies the stated security and operational requirements for an AWN protocol. There are three main objectives for this protocol. First, the protocol has to provide the assurance that all communicating entities can trust each other, and can trust their internal (secure) software and hardware states. Second, the protocol has to establish a fair key exchange between all communicating entities so as to provide a secure channel. Finally, the third objective is to be efficient for both the initial start-up of the network and when resuming a session after a cold and/or warm restart of a node. The proposed protocol is implemented and performance measurements are presented based on this implementation. In addition, we formally verify our proposed protocol using CasperFDR.Comment: 10 pages, 2 figures, 4 tables, IEEE DAS

Security and performance comparison of different secure channel protocols for Avionics Wireless Networks

The notion of Integrated Modular Avionics (IMA) refers to inter-connected pieces of avionics equipment supported by a wired technology, with stringent reliability and safety requirements. If the inter-connecting wires are physically secured so that a malicious user cannot access them directly, then this enforces (at least partially) the security of the network. However, substituting the wired network with a wireless network - which in this context is referred to as an Avionics Wireless Network (AWN) - brings a number of new challenges related to assurance, reliability, and security. The AWN thus has to ensure that it provides at least the required security and safety levels offered by the equivalent wired network. Providing a wired-equivalent security for a communication channel requires the setting up of a strong, secure (encrypted) channel between the entities that are connected to the AWN. In this paper, we propose three approaches to establish such a secure channel based on (i) pre-shared keys, (ii) trusted key distribution, and (iii) key-sharing protocols. For each of these approaches, we present two representative protocol variants. These protocols are then implemented as part of a demo AWN and they are then compared based on performance measurements. Most importantly, we have evaluated these protocols based on security and operational requirements that we define in this paper for an AWN.Comment: 8 page, 4 images, 2 tables, conference, IEEE DAS

Suivi robuste d'objets en temps-réel : une approche hybride 2D-3D

Dans cet article, nous présentons une méthode originale de suivi d'objets complexes approximativement modélisés par un polyèdre. L'approche repose sur l'estimation du mouvement de l'objet dans l'image, ainsi que sur un calcul de pose. La méthode proposée permet un suivi fiable et robuste en temps réel comme le montrent les résultats présentés

Decoupled image-based visual servoing for cameras obeying the unified projection model

This paper proposes a generic decoupled imagebased control scheme for cameras obeying the unified projection model. The scheme is based on the spherical projection model. Invariants to rotational motion are computed from this projection and used to control the translational degrees of freedom. Importantly we form invariants which decrease the sensitivity of the interaction matrix to object depth variation. Finally, the proposed results are validated with experiments using a classical perspective camera as well as a fisheye camera mounted on a 6-DOF robotic platform

La relation vision-commande: theorie et application a des taches robotiques

SIGLEINIST TD 19881 / INIST-CNRS - Institut de l'Information Scientifique et TechniqueFRFranc

Combining Cartesian and polar coordinates in IBVS

Image-based visual servo (IBVS) is a simple, efficient and robust technique for vision-based control. Although technically a local method in practice it demonstrates almost global convergence. However IBVS performs very poorly for cases that involve large rotations about the optical axis. It is well known that re-parameterizing the problem by using polar, instead of Cartesian coordinates, of feature points overcomes this limitation. First, simulation and experimental results are presented to show the complementarity of these two parameter-izations. We then describe a new hybrid visual servo strategy based on combining polar and Cartesian image Jacobians. © 2009 IEEE

Features Tracking For Visual Servoing Purpose

Elaboration of objects tracking algorithms in image sequences is an important issue for research and application related to visual servoing and more generally for robot vision. A robust extraction and real-time spatiotemporal tracking process of visual cue is indeed one of the keys to success, or to failure, of a visual servoing task. To consider visual servoing within large scale applications, it is now fundamental to consider natural scenes without any fiducial markers and with complex objects in various illumination conditions. In this paper we give an overview of a few tracking algorithms developed for visual servoing experiments at IRISA-INRIA Rennes

Application of Moment Invariants to Visual Servoing

In this paper, we present how moment invariants can be used to design a decoupled 2D visual servoing scheme and to minimize the nonlinearity of the interaction matrix related to the selected visual features. Experimental results using a 6 dof eye-in-hand system to position a camera parallel to planar objects of complex shape are presented to demonstrate the efficiency of the proposed method. I