People involved : Juan-Manuel Ahuactzin, Kamel Mekhnacha, Pierre Bessière, Emmanuel Mazer, Manuel Yguel, Jean-Marc Bollon.
ProBT is both available as a commercial product (ProBAYES.com) and as a free library for public research and academic purposes ( http://emotion.inrialpes.fr/BP/spip.php?rubrique6 ) Formerly known as OPL , ProBT is a C++ library for developing efficient Bayesian software. It is available for Linux, Unix, PC Windows (Visual C++), MacOS9, MacOSX and Irix systems. The ProBT library ( http://www.probayes.com/spip.php?rubrique57 ) has two main components: (i) a friendly Application Program Interface (API) for building Bayesian models, and (ii) a high-performance Bayesian Inference Engine (BIE) allowing to execute all the probability calculus in exact or approximate way. ProBT is now commercialized by our start-up Probayes ; it represents the main Bayesian programming tool of the e-Motion project-team, and it is currently used in a variety of external projects both in the academic and industrial field (e.g. for the European project BACS and for some industrial applications such as Toyota or Denso future driving assistance systems).
Cycab Simulator and programming toolbox.
People involved : Christophe Braillon, Amaury Nègre, participation of the SED team.
In order to perform pre-test and to provide help for Cycab developers, a robot simulator has been developed. This simulator is intended to simulate hardware and low-level drivers, in order to produce a temporal behaviour (refresh frequency, scheduling...) similar to what can be found on real robots with real sensors.
A middleware called Hugr has been developed to allow easy switching between simulated and real platform. Application that uses this middleware do not need to be recompiled when going from the simulator to the real hardware. Moreover Hugr makes it easy to design distributed application. It uses network to share data between applications that are not located on the same machine as easily as if they were on the same one.
Several sensors and robots have been simulated, among them the most original ones are catadioptric and fisheye cameras. Realistic models have been developed for laser sensors, GPS, cameras, ... All these models rely on state-of-the-art GPU techniques. Computing most of the simulated data on the GPU means that the CPU is free for applications. Therefore there is practically no difference between simulation and real sensors or robots.
Applications written and tested on the simulated robot can then be settled to the real one without any modification. Sensors and environment are also simulated, so that complete applications can be developed on this test bed.
The simulator project is available on the INRIA Forge ( http://gforge.inria.fr/projects/cycabtk ).
Bayesian Occupation Filter (BOF) Toolbox.
People involved: Kamel Mekhnacha, Tay Meng Keat Christopher, C. Laugier, M. Yguel, Pierre Bessière, Thierry Fraichard.
The BOF toolbox is a C++ library that implements the Bayesian Occupation Filter. It is often used for modelling dynamic environments. It contains the relevant functions for performing bayesian filtering in grid spaces. The output from the BOF toolbox are the estimated probability distributions of each cell's occupation and velocity. Some basic sensor models such as the laser scanner sensor model or gaussian sensor model for gridded spaces are also included in the BOF toolbox. The sensor models and BOF mechanism in the BOF toolbox provides the necessary tools for modelling dynamic environments in most robotic applications. This toolbox is patented under two patents : “Procédé d'assistance à la conduite d'un véhicule et dispositif associé ” n. 0552735 (9 september 2005) and “Procédé d'assistance á la conduite d'un véhicule et dispositif associé amélioré” n. 0552736 (9 september 2005) and commercialized by ProBayes.
People involved : Christian Laugier, Kenneth Sundaraj.
This library has been implemented for providing robust and efficient collision detection, exact distance computation, and contact localisation of three-dimensional polygonal objects. It is patented under the french APP patent #IDDN.FR.001.280011.000.S.P.2004.000.10000. This library is still available on the web and used by several researchers from differents countries.