1 code implementation • 21 Jul 2022 • Quentin Serdel, Christophe Grand, Julien Marzat, Julien Moras
This paper introduces an Online Localisation and Colored Mesh Reconstruction (OLCMR) ROS perception architecture for ground exploration robots aiming to perform robust Simultaneous Localisation And Mapping (SLAM) in challenging unknown environments and provide an associated colored 3D mesh representation in real time.
1 code implementation • 8 Feb 2021 • Maxime Ferrera, Alexandre Eudes, Julien Moras, Martial Sanfourche, Guy Le Besnerais
Many applications of Visual SLAM, such as augmented reality, virtual reality, robotics or autonomous driving, require versatile, robust and precise solutions, most often with real-time capability.
no code implementations • 29 Jan 2021 • Thomas Chaffre, Julien Moras, Adrien Chan-Hon-Tong, Julien Marzat, Karl Sammut, Gilles Le Chenadec, Benoit Clement
We compare it, in realistic simulations, to a model-free controller that uses the same deep reinforcement learning framework for the control of a micro aerial vehicle under wind gust.
no code implementations • 30 Apr 2020 • Thomas Chaffre, Julien Moras, Adrien Chan-Hon-Tong, Julien Marzat
Transferring learning-based models to the real world remains one of the hardest problems in model-free control theory.
no code implementations • 4 Nov 2019 • Marcela Carvalho, Maxime Ferrera, Alexandre Boulch, Julien Moras, Bertrand Le Saux, Pauline Trouvé-Peloux
This paper is a technical report about our submission for the ECCV 2018 3DRMS Workshop Challenge on Semantic 3D Reconstruction \cite{Tylecek2018rms}.
no code implementations • 31 Oct 2019 • Maxime Ferrera, Vincent Creuze, Julien Moras, Pauline Trouvé-Peloux
The data acquisition is performed using Remotely Operated Vehicles equipped with a monocular monochromatic camera, a low-cost inertial measurement unit, a pressure sensor and a computing unit, all embedded in a single enclosure.
no code implementations • 19 Sep 2018 • Maxime Ferrera, Julien Moras, Pauline Trouvé-Peloux, Vincent Creuze, Denis Dégez
This paper presents a new underwater dataset acquired from a visual-inertial-pressure acquisition system and meant to be used to benchmark visual odometry, visual SLAM and multi-sensors SLAM solutions.
no code implementations • 15 Jun 2018 • Maxime Ferrera, Julien Moras, Pauline Trouvé-Peloux, Vincent Creuze
In the context of robotic underwater operations, the visual degradations induced by the medium properties make difficult the exclusive use of cameras for localization purpose.