Section: Other Grants and Activities
National initiatives
PEA Tarot
Participants : Fabien Spindler, François Chaumette.
duration: 30 months.
This project was a large project realized for the DGA through a consortium led by Thales Optronics. It ended in July 2009. We worked in close collaboration with the ARobAS team at Inria Sophia Antipolis-Méditerranée, sharing an engineer, Melaine Gautier, who participated to software developments. This project was about the development of visual tracking algorithms and about the vision-based control of non-holonomic vehicles. Within this project, our work consisted in developing 2D image-based tracking algorithms in complex outdoor scenes. The algorithms provided previously using points of interest have been improved. New functionalities have been added and our contribution was ported to the DGA's autonomous military terrestrial vehicle dedicated to survey missions.
ANR Psirob Scuav project
Participants : Olivier Kermorgant, François Chaumette.
no. Inria 2435, duration: 42 months.
This project, led by Tarek Hamel from I3S, started in June 2007. It is realized in collaboration with I3S, the EPI ARobAS at Inria Sophia Antipolis-Méditerranée, Heudiasyc in Compiègne, the CEA-List and the Bertin company. It is devoted to the sensor-based control of small helicopters for various applications (stabilization landing, target tracking, etc.). The corresponding scientific work is described in Section 6.1.6 .
ANR AM Gamme project
Participants : Jean Laneurit, Éric Marchand.
no. Inria 2861, duration: 36 months.
This project started in March 2008. It is realized in collaboration with Orange Labs, CEA Leti, Movea, Polymorph, and the Museum of fine arts in Rennes.
The Augmented Reality (AR) concept aims to enhance our real world perception, combining it with fictitious elements. AR research is concerned with the different methods used to augment live video imagery with coherent computer generated graphics. The combination of mobile technologies and AR will allow the design of a video rendering system with an augmentation of the real world depending on user localisation and orientation.
This project is focused on indoor environments with the implementation of AR technologies on mobile devices as main objective. The experimental field proposed is the Museum, a controlled environment (constant lightening and location of objects) without some of the perturbations of outdoor environments. We do estimate that a successful museum prototype could be used as the backbone of many other indoor and outdoor AR applications.
Within this project we are involved in tracking and sensor fusion parts of the AR process.
ANR Tosa CityVIP project
Participants : Andrea Cherubini, Éric Marchand, François Chaumette.
no. Inria 3208, duration: 36 months.
This project, managed by Lasmea, started in June 2008. It involves eight partners, including Lagadic. The project consists of enhancing the autonomy of urban vehicles by integrating sensor-based techniques with a geographical database. Within CityVIP, Lagadic provides its expertise in vision-based localization and vision-based navigation, including safe navigation in the presence of obstacles. The work that we have realized within this project is described in Section 6.1.7 .
ANR Psirob RobM@rket project
Participants : Guillaume Fortier, Éric Marchand.
no. Inria 3005, duration: 36 months.
This project started in March 2008. It is realized in collaboration with BA Systèmes, CEA List, and Université de Caen. RobM@rket project aims at developing automated applications for order picking in a fast-expanding business which mainly includes manual tasks. The system would apply to packaging before dispatching items ordered on a website through an online catalogue including more than 1000 references or to order picking with orders dedicated to kitting.
The robotic system is made of a PLC mobile platform of AGV type (Automatic Guided Vehicles, by BA Systèmes) and of an industrial robot arm. This platform is used to integrate several algorithms allowing picking up selected items in a warehouse through a command file and bringing them back for dispatching or assembling them. The items can be either methodically stored or jumbled in the boxes. Our current work consists in developing vision-based objects localization techniques for grasping them.
ANR Contint Prosit project
Participants : Tao Li, Alexandre Krupa.
no. Inria 3585, duration: 36 months.
This project is a multidisciplinary industrial research type project led by the Prisme lab in Bourges. It started in December 2008 in collaboration with Lirmm in Montpellier, LMS in Poitiers, CHU of Tours, and the Robosoft company. The goal of this project is to develop an interactive master-slave robotic platform for medical diagnosis applications (tele-echography) and to develop a cluster of interactive functionalities combining visual servoing, force control, haptic feedback, virtual human interface, and 3D representation of organs. Within this project, we study and develop autonomous control modes that directly make use of visual data extracted from the 2D ultrasound image and force measurement to move the ultrasound probe.
ANR Contint USComp project
Participants : Alexandre Krupa, François Chaumette.
no. Inria 3560, duration: 36 months.
This project, led by Alexandre Krupa, started in December 2008. It involves a collaboration with the Visages team in Rennes, LSIIT in Strasbourg and Lirmm in Montpellier. Its goal is to provide methodological solutions for real-time compensation of soft tissues motion during ultrasound imaging. The approach consists in synchronizing the displacement of a 2D or 3D ultrasound transducer to stabilize the observed image by the use of a robotic arm actuating the ultrasound probe. The problematic concerns more specifically the use in the control scheme of the per-operative ultrasound image, the interaction force between the probe and the soft tissues and the measurements of external signals providing the breathing state of the patient. Our current work consists in developing a software simulator that generates the ultrasound image observed by a virtual probe interacting with a moving and deforming virtual organ.
