Author details
Philippe Martinet
Also published under: P. Martinet, Philipe Martinet
Affiliation
Inria Centre at Université Côte d’Azur, France
Biography
(Based on document published on 19 January 2015). Author's Published Works
Author details
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Multi-Spectral Visual Servoing
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2024 | Conference Paper |
This paper presents a novel approach for Visual Servoing (VS) using a multispectral camera, where the number of data are more than three times that of a standard color camera. To meet real-time feasibility, the multispectral data captured by the camera are processed using dimensionality reduction techniques. Instead of relying on traditional approaches that select a subset of bands, the proposed m...Show More
Robustness Study of Optimal Geometries for Cooperative Multi-Robot Localization
Mathilde Theunissen;Isabelle Fantoni;Ezio Malis;Philippe Martinet
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2024 | Conference Paper |
This work focuses on localizing a single target robot with multi-robot formations in 2D space. The cooperative robots employ inter-robot range measurements to assess the target position. In the presence of noisy measurements, the choice of formation geometries significantly impacts the accuracy of the target robot’s pose estimation. While an infinite number of geometries exists to optimize localiz...Show More
Towards Autonomous Robotic Structure Inspection with Dense-Direct Visual-SLAM
2024 32nd European Signal Processing Conference (EUSIPCO)
Year: 2024 | Conference Paper |
We present a comprehensive framework based on direct Visual Simultaneous Localization and Mapping (V-SLAM) to observe a vertical coastal cliff. The precise positioning of data measurements (such as ground-penetrating radar) is crucial for environmental observations. However, in GPS-denied environments near large structures, the GPS signal can be severely disrupted or even unavailable. To address t...Show More
Reliable Risk Assessment and Management using Probabilistic Fusion of Predictive Inter-Distance Profile for Urban Autonomous Driving
2024 European Control Conference (ECC)
Year: 2024 | Conference Paper |
Autonomous driving in urban scenarios has become more challenging due to the increase in Personal Light Electric Vehicles (PLEVs), PLEVs correspond mostly to electric devices such as gyropods and scooters. They exhibit varying velocity profiles as a result of their high acceleration capacity. Multiple hypotheses about their possible motion make autonomous driving very difficult, leading to the hig...Show More
Balanced ICP for precise lidar odometry from non bilateral correspondences
2024 IEEE Intelligent Vehicles Symposium (IV)
Year: 2024 | Conference Paper |
In the field of lidar odometry for autonomous navigation, the Iterative Closest Point (ICP) algorithm is a prevalent choice for estimating robot motion by comparing point clouds. However, ICP accuracy is strictly dependent on the nature of the features involved, but also on the directional choice of the extraction and matching, either from the current to the reference point cloud or vice-versa. Po...Show More
Hybrid visual odometry methods achieve state-of-the-art performance by fusing both data-based deep learning networks and model-based localization approaches. However, these methods also suffer from deep learning domain gap problems, which leads to an accuracy drop of the hybrid visual odometry approach when new type of data is considered. This letter is the first to explore a practical solution to...Show More
One-Stage Deep Stereo Network
ICASSP 2024 - 2024 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP)
Year: 2024 | Conference Paper |
Cited by: Papers (2)
Stereo-matching is one of the most important low-level visual perception tasks. Currently, two-stage 2D-3D networks are the main solutions. These methods involve creating a cost volume using low-resolution stereo feature maps, which separate the network into a feature net and a matching net. However, two-stage methods may accumulate errors, and the use of a low-resolution cost volume may result in...Show More
How To Evaluate the Navigation of Autonomous Vehicles Around Pedestrians?
Maria Kabtoul;Manon Prédhumeau;Anne Spalanzani;Julie Dugdale;Philippe Martinet
The navigation of autonomous vehicles around pedestrians is a key challenge when driving in urban environments. It is essential to test the proposed navigation system using simulation before moving to real-life implementation and testing. Evaluating the performance of the system requires the design of a diverse set of tests which spans the targeted working scenarios and conditions. These tests can...Show More
Multi-Masks Generation for Increasing Robustness of Dense Direct Methods
2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)
Year: 2023 | Conference Paper |
In this paper, we address the problem of increasing the precision of dense direct stereo visual odometry methods. Dense methods need a dense depth map to generate warped images (virtual views) that will match with reference images if the estimated pose is good. Previous works have shown that generating the depth map by machine learning methods leads to very good odometry results. However, machine ...Show More
Towards Autonomous Robot Navigation in Human Populated Environments Using an Universal SFM and Parametrized MPC
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2023 | Conference Paper |
Autonomous mobile robot navigation in a human populated and encumbered environment is recognized as a hard problem to be solved in real-time. Most of the time, robots face the so-called ‘Freezing Robot Problem’, that occurs when the robot stops because no feasible and safe motion can be found. In order to provide to the robot the capability of proactive navigation, in this work we generalize the c...Show More
Investigating the Performances of Control Parameterizations for Nonlinear Model Predictive Control
Franco Fusco;Guillaume Allibert;Olivier Kermorgant;Philippe Martinet
2022 17th International Conference on Control, Automation, Robotics and Vision (ICARCV)
Year: 2022 | Conference Paper |
Solving Direct Shooting Model Predictive Control (MPC) optimization problems online can be computationally expensive if a large horizon is used while also maintaining a dense time sampling. In these cases, it is accepted that tradeoffs between computational load and performances should be sought in order to meet real-time feasibility requirements. However, making the problem more tractable for the...Show More
Uncertainty-aware Navigation in Crowded Environment
2022 17th International Conference on Control, Automation, Robotics and Vision (ICARCV)
Year: 2022 | Conference Paper |
Cited by: Papers (1)
Robots are now widely used around humans, in homes and public places like the museums, all due to their many benefits. These autonomous robots are called social or service robots and they always find it difficult to navigate in crowded environments; largely because of the high level of uncertainty in observing and predicting human behaviours in a highly dynamic environment. Uncertainty is propagat...Show More
A New Dense Hybrid Stereo Visual Odometry Approach
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2022 | Conference Paper |
Cited by: Papers (5)
Visual odometry is an important part of the perception module of autonomous robots. Recent advances in deep learning approaches have given rise to hybrid visual odometry approaches that combine both deep networks and traditional pose estimation methods. One limitation of deep learning approaches is the availability of ground truth data needed to train the neural networks. For example, it is extrem...Show More
Minimal Injury Risk Motion Planning Using Active Mitigation and Sampling Model Predictive Control
Luiz Alberto Serafim Guardini;Anne Spalanzani;Philippe Martinet;Christian Laugier;Thomas Genevois;Anh-Lam Do
2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)
Year: 2022 | Conference Paper |
Cited by: Papers (3)
Collision mitigation is an important element in motion planning. Although Advanced Driver-Assistance Systems (ADAS) have a rich number of functionalities, they lack interchangeability. There is still a gap on finding a way to evaluate the best decision globally. This paper presents a novel motion planning framework to generate emergency maneuvers in complex and risky scenarios using active mitigat...Show More
Benchmarking Nonlinear Model Predictive Control with Input Parameterizations
Franco Fusco;Guillaume Allibert;Olivier Kermorgant;Philippe Martinet
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)
Year: 2022 | Conference Paper |
Cited by: Papers (1)
Model Predictive Control (MPC) while being a very effective control technique can become computationally demanding when a large prediction horizon is selected. To make the problem more tractable, one technique that has been proposed in the literature makes use of control input parameterizations to decrease the numerical complexity of nonlinear MPC problems without necessarily affecting the perform...Show More
Proactive And Smooth Maneuvering For Navigation Around Pedestrians
2022 International Conference on Robotics and Automation (ICRA)
Year: 2022 | Conference Paper |
Cited by: Papers (6)
Navigation in close proximity with pedestrians is a challenge on the way to fully automated vehicles. Pedestrian-friendly navigation requires an understanding of pedestrian reaction and intention. Merely safety based reactive systems can lead to sub-optimal navigation solutions resulting in the freezing of the vehicle in many scenarios. Moreover, a strictly reactive method can produce unnatural dr...Show More
Multisensor-Based Predictive Control for Autonomous Parking
David Pérez-Morales;Olivier Kermorgant;Salvador Domínguez-Quijada;Philippe Martinet
IEEE Transactions on Robotics
Cited by: Papers (3)
This article formalizes, under a single common multisensor-based predictive control framework, five different types of parking maneuvers: perpendicular, diagonal for both forward and backward motions, and parallel for backward motions. Since, from a practical point of view, forward parallel parking is usually not advisable, it is not addressed in this work. By moving the effort from motion plannin...Show More
Sampling-Based MPC for Constrained Vision Based Control
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2021 | Conference Paper |
Cited by: Papers (14)
Visual servoing control schemes, such as Image-Based (IBVS), Pose Based (PBVS) or Hybrid-Based (HBVS) have been extensively developed over the last decades making possible their uses in a large number of applications. It is well-known that the main problems to be handled concern the presence of local minima or singularities, the visibility constraint, the joint limits, etc. Recently, Model Predict...Show More
Platooning of Car-Like Vehicles in Urban Environments: Longitudinal Control Considering Actuator Dynamics, Time Delays, and Limited Communication Capabilities
Ahmed Khalifa;Olivier Kermorgant;Salvador Dominguez;Philippe Martinet
This brief proposes a longitudinal control framework for platooning in an urban environment. The targeted application is to redistribute vehicles involved in car-sharing systems, where only the leader vehicle is human-driven. We propose a platoon model and control law considering actuator dynamics. This control relies on a hybrid information flow topology (IFT), where the leader broadcasts its sta...Show More
Platooning of Car-Like Vehicles in Urban Environments: An Observer-Based Approach Considering Actuator Dynamics and Time Delays
Ahmed Khalifa;Olivier Kermorgant;Salvador Dominguez;Philippe Martinet
In this paper, a distributed observer-based approach is proposed to control the longitudinal motion of car-like vehicle platoon moving in an urban environment. To the best of our knowledge, this is the first work presenting an observer-based platoon controller that combines the advantages of high traffic capacity and a minimum number of communication links. To achieve a high traffic flow, a consta...Show More
Model Predictive Path Integral Control Framework for Partially Observable Navigation: A Quadrotor Case Study
2020 16th International Conference on Control, Automation, Robotics and Vision (ICARCV)
Year: 2020 | Conference Paper |
Cited by: Papers (21)
Recently, Model Predictive Path Integral (MPPI) control algorithm has been extensively applied to autonomous navigation tasks, where the cost map is mostly assumed to be known and the 2D navigation tasks are only performed. In this paper, we propose a generic MPPI control framework that can be used for 2D or 3D autonomous navigation tasks in either fully or partially observable environments, which...Show More
Multi-Sensor-based Predictive Control for Autonomous Parking in Presence of Pedestrians
David Pérez-Morales;Olivier Kermorgant;Salvador Domínguez-Quijada;Philippe Martinet
2020 16th International Conference on Control, Automation, Robotics and Vision (ICARCV)
Year: 2020 | Conference Paper |
Cited by: Papers (4)
This paper explores the feasibility of a Multi-Sensor-Based Predictive Control (MSBPC) approach in order to have constraint-based backward non-parallel (perpendicular and diagonal) parking maneuvers capable of dealing with moving pedestrians and, if necessary, performing multiple maneuvers. Our technique relies solely in sensor data expressed relative to the vehicle and therefore no localization i...Show More
Employing Severity of Injury to Contextualize Complex Risk Mitigation Scenarios
Luiz Alberto Serafim Guardini;Anne Spalanzani;Christian Laugier;Philippe Martinet;Anh-Lam Do;Thierry Hermitte
Risk mitigation is an important element to consider in risk evaluation. Safety features have helped to decrease the death ratio over the years. However, to date, each driver assistance system works on a single domain of operation. The problem remains in how to use perception to contextualize the scene to fully minimize the collision severity in a complex emergency scenario. Up to now, works on cos...Show More
Proactive Longitudinal Velocity Control In Pedestrians-Vehicle Interaction Scenarios
2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)
Year: 2020 | Conference Paper |
Cited by: Papers (4)
Navigation in pedestrian populated environments is a highly challenging task, and a milestone on the way to fully autonomous urban driving systems. Pedestrian populated environments are highly dynamic, uncertain and difficult to predict. The strict safety measures in such environments result in overly reactive navigation systems, which do not match the conduct of experienced drivers. An autonomous...Show More
Towards Proactive Navigation: A Pedestrian-Vehicle Cooperation Based Behavioral Model
2020 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2020 | Conference Paper |
Cited by: Papers (17)
Developing autonomous vehicles capable of navigating safely and socially around pedestrians is a major challenge in intelligent transportation. This challenge cannot be met without understanding pedestrians' behavioral response to an autonomous vehicle, and the task of building a clear and quantitative description of the pedestrian to vehicle interaction remains a key milestone in autonomous navig...Show More
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