Research

Research interests

omniExample

  • Computer vision for robotics
  • Visual Servoing
  • Omnidirectional cameras
  • High resolution pose estimation

HighResPoseSensing

Open-source softwares

  • LibPeR: vision-based state estimation of robot and scene
  • Vernier: pose measurement of calibrated patterns with subpixel resolutions

Supervision

PhD students

  • Amneh Nasir (Oct. 2024 - Sep. 2027), Direct visual servoing of robots by cost function smoothing. Application to rigid and deformable scenes.

Engineers

  • Matheus Paula (Oct. 2024 - ongoing), Object detection and pose estimation integration in robotics teleoperation framework

Master students

  • Ferdinand Louapre (engineer’s degree, Mines de Paris, spring 2025, co-supervision), Hessian shaping for enhanced convergence domain Visual Servoing Schemes
  • Damien Harlé (engineer’s degree, Rubika Valenciennes, summer 2024), user feedback enhancement with wide FoV cameras for robot teleoperation
  • Gwendal Crequer (engineer’s degree, ENSTA Bretagne, spring 2024), robot masking for Spherical Visual Servoing using omnidirectional cameras
  • Thomas Duvinage (engineer’s degree, UTBM, autumn 2023), encapsulate spherical Visual Servoing in a multi-objective control framework
  • Matthieu Quaccia (engineer’s degree, INSA Toulouse, spring 2023, co-supervision), implementation of feature maps for Direct Visual Servoing
  • Quentin Milot (engineer’s degree, INSA Rennes, spring 2022, co-supervision), Adaptation for omnidirectional cameras of a SLAM (Simultaneous Localization and Mapping) algorithm
  • Valériia Leush (engineer’s degree, ENSMM, spring 2021), Software development of a python tool, based on the Vernier library, to generate and measure periodic pattern poses

Bachelor students

  • Sinta Schulte (bachelor’s degree, KIT, summer 2024), Visual Servoing trajectory evaluation comparison using various FoV

Projects participation

  • CALL (ANR, 2025-2028), dynamic object handover using full spherical visual perception and biomechanical modeling of humans
  • Ant’noid (ANR, 2024-2028), leveraging ants visual familiarities for humanoid robot navigation
  • BRIDGE SIGRoLe (NTT, 2023-2026), Self-Improving AI for seamless human-guided robot learning
  • Def-phi (AIST-ITH funding, 2024-2025), Phase based deformation estimation
  • DVS-Straight (AIST-ITH funding, 2021-2024), Direct Visual Servoing with optimal robot trajectories
  • Holonet (ISITE BFC funding, 2020-2023), Toward extended visual control capabilities using digital holography
  • Nano6D (regional funding, 2018-2021), 3D metrology at nanoscale