Éric Marchand

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Eric Marchand


Eric Marchand
Professor of computer Science
Université de Rennes 1

Email : Eric.Marchand @ irisa.fr
Addresse : IRISA, INRIA Rennes - Bretagne Atlantique
Campus Universitaire de Beaulieu
35042 Rennes, France
Tél : +33 2 99 84 74 27
Fax : +33 2 99 84 71 71
Assistant : +33 2 99 84 22 52 (Céline Gharsalli)

Short bio

After a PhD in computer science done in the Temis project at IRISA and defended in 1996 at the Université de Rennes 1, I spent one year as a Postdoctoral Associates in the AI lab of the Dpt of Computer Science at Yale University. I was an INRIA research scientist (Chargé de recherche) at IRISA-INRIA Rennes. At IRISA, I have been a member of the Temis group (from 1993 to 1996), then of the Vista group (from 1997 to 2003), and I am now in the Lagadic group. I defended an Habilitation in Computer science in november 2004.

Since november 2009, I am a professor of Computer Science at Université de Rennes 1.

My research interests include robotics, perception strategies and especially the cooperation between perception and action within the visual servoing approach. I am also interested in computer vision and image processing for visual servoing application (object tracking) and in high-level languages for reactive and real-time robot programming. More recently I study new application fields such as underwater robotics (with Ifremer), computer animation, tracking and augmented reality.

IEEE ISMAR 2010 Best Paper Runner-Up Award
IEEE/RSJ IROS'07 Conference Best Application Paper Award.
RFIA'96 Best Paper Award.

Starting june 2010, I am an associate editor of the IEEE Trans. on Robotics (T-RO)
Guest Editor of The Int. J. of Robotics Research (IJRR) special issue on "Robot Vision" (2013)

I have served in the program committee of several conferences : ISMAR'05, ORASIS'05, ECCV'06, AMDO-e 2006, Deform'06, JNRR'07, ORASIS'07, RSS'07, ACIVS'07, Coresa 2007, RFIA 2008, NORDIA,CVPR 2008, CORESA 2009, JNRR'09, CVPR 2009, ICCV 2009, ACCV 2009, ISMAR'09, Coresa 2010, CVPR 2010, ECCV'10, ISMAR 2010, CVPR 2011, ORASIS 2011, IROS 2011 (AE), RFIA 2012, Coresa 2012, ICRA 2012 (AE), RSS 2012, Orasis 2013, ICRA 2013 (AE), RSS 2013, IROS 2013 (AE), ISMAR 2013 (Area Chair), ICRA 2014 (AE).

I am in the board of the ``Images et réseaux'' cluster. I was a member of the scientific board of the Université de Rennes 1 (2004-2008).

PhD students


Softwares

Visp : Visual servoing plateform
Marker : Marker-based augmented reality kernel
Markerless : Markerless-based augmented reality kernel
bib2html: a bibtex to html translator

Some publications

Complete List (and postcript files if available)

Direct visual Servoing

  • A. Dame, E. Marchand. Mutual information-based visual servoing. IEEE Trans. on Robotics, 27(5):958-969, October 2011. details pdf
  • C. Collewet, E. Marchand. Photometric visual servoing. IEEE Trans. on Robotics, 27(4):828-834, August 2011. details
  • G. Caron, E. Marchand, E. Mouaddib. Omnidirectional Photometric Visual Servoing. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'10, Taipei, Taiwan, October 2010. details pdf
  • C. Collewet, E. Marchand, F. Chaumette. Visual servoing set free from image processing. In IEEE Int. Conf. on Robotics and Automation, ICRA'08, Pages 81-86, Pasadena, CA, May 2008. details
  • E. Marchand. Control Camera and Light Source Positions using Image Gradient Information. In IEEE Int. Conf. on Robotics and Automation, ICRA'07, Pages 417-422, Rome, Italie, Avril 2007. details

Tracking

  • A. Dame, E. Marchand. Second order optimization of mutual information for real-time image registration. IEEE Trans. on Image Processing, 21(9):4190-4203, September 2012. details pdf
  • C. Teulière, E. Marchand, L. Eck. Using multiple hypothesis in model-based tracking. In IEEE Int. Conf. on Robotics and Automation, ICRA'10, Anchorage, Alaska, May 2010. details pdf
  • F. Dionnet, E. Marchand. Robust stereo tracking for space robotic applications. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'07, Pages 3373-3378, San Diego, CA, October 2007. details pdf (IROS'07 Best application paper award)
  • M. Pressigout, E. Marchand. Real-Time Hybrid Tracking using Edge and Texture Information. Int. Journal of Robotics Research, IJRR, 26(7):689-713, july 2007. details doi pdf
  • E. Marchand, F. Chaumette. Feature tracking for visual servoing purposes. Robotics and Autonomous Systems, 52(1):53-70, june 2005. details
  • A.I. Comport, E. Marchand, M. Pressigout, F. Chaumette. Real-time markerless tracking for augmented reality: the virtual visual servoing framework. IEEE Trans. on Visualization and Computer Graphics, 12(6):615-628, July/August 2006. details
  • E. Marchand, P. Bouthemy, F. Chaumette. A 2D-3D model-based approach to real-time visual tracking. Image and Vision Computing, 19(13):941-955, November 2001. details (shorter version in IEEE Int. Conf. on Computer Vision, ICCV'99, Volume 1, Pages 262-268, Corfou, Greece, September 1999. details )

Visual Servoing

  • A.I. Comport, E. Marchand, F. Chaumette. Statistically robust 2D visual servoing. IEEE Trans. on Robotics, 22(2):415-421, april 2006. details
  • E. Marchand, F. Spindler, F. Chaumette. ViSP for visual servoing: a generic software platform with a wide class of robot control skills. IEEE Robotics and Automation Magazine, 12(4):40-52, December 2005. details
  • E. Marchand, F. Chaumette, F. Spindler, M. Perrier. Controlling an uninstrumented manipulator by visual servoing. Int. Journal of Robotics Research, IJRR, 21(7):635-648, July 2002. details
  • F. Chaumette, E. Marchand. A Redundancy-based Iterative Approach for Avoiding Joint Limits: Application to Visual Servoing. IEEE Trans. on Robotics and Automation, 17(5):719-730, October 2001. details
  • E. Marchand, G.D. Hager. Dynamic Sensor Planning in Visual Servoing. In IEEE Int. Conf. on Robotics and Automation, ICRA'98, Volume 3, Pages 1988-1993, Leuven, Belgium, May 1998. details

Augmented reality

  • A. Dame, E. Marchand. Accurate real-time tracking using mutual information. In IEEE Int. Symp. on Mixed and Augmented Reality, ISMAR'10, Seoul, Korea, Octobre 2010. details pdf (ISMAR2010 Best paper runner-up award)
  • M. Pressigout, E. Marchand. Hybrid tracking algorithms for planar and non-planar structures subject to illumination changes. In ACM/IEEE Int. Symp. on Mixed and Augmented Reality, ISMAR'06, Santa Barbara, CA, Octobre 2006. details
  • A.I. Comport, E. Marchand, M. Pressigout, F. Chaumette. Real-time markerless tracking for augmented reality: the virtual visual servoing framework. IEEE Trans. on Visualization and Computer Graphics, 12(6):615-628, July/August 2006. details
  • A. Comport, E. Marchand, F. Chaumette. A real-time tracker for markerless augmented reality. In ACM/IEEE Int. Symp. on Mixed and Augmented Reality, ISMAR'03, Pages 36-45, Tokyo, Japan, October 2003. details
  • E. Marchand, F. Chaumette. Virtual Visual Servoing: a framework for real-time augmented reality. In EUROGRAPHICS 2002 Conference Proceeding, G. Drettakis, H.-P. Seidel (eds.), Computer Graphics Forum, Volume 21(3), Pages 289-298, Sarrebruck, Germany, September 2002. details

Micro-robotics

  • B. Tamadazte, N. Lefort-Piat, E. Marchand. A Direct Visual Servoing Scheme for Automatic Nanopositioning. IEEE/ASME Trans. on Mechatronics, 17(4):728-736, August 2012. details Hal : Hyper Archive en ligne doi pdf
  • B. Tamadazte, E. Marchand, S. Dembélé, N. Le Fort-Piat. CAD model based tracking and 3D visual-based control for MEMS microassembly. The Int. Journal of Robotics Research, 29(11):1416-1434, Septembre 2010. details pdf

Virtual reality and animation

  • N. Courty, E. Marchand, B. Arnaldi. Through-the-eyes control of a virtual humanoïd. In IEEE Computer Animation 2001, H.-S. Ko (ed.), Pages 74-83, Seoul, South Korea, November 2001. details
  • E. Marchand, N. Courty. Controlling a camera in a virtual environment. The Visual Computer Journal, 18(1):1-19, February 2002. details

Old works (computer vision, robotics, and synchronous programming)

  • E. Marchand, F. Chaumette. An Autonomous Active Vision System for Complete and Accurate 3D Scene Reconstruction. Int. Journal of Computer Vision, 32(3):171-194, August 1999. details
  • E. Marchand, F. Chaumette. Active vision for complete scene reconstruction and exploration. IEEE Trans. on Pattern Analysis and Machine Intelligence, 21(1):65-72, January 1999. details
  • E. Marchand, E. Rutten, H. Marchand, F. Chaumette. Specifying and verifying active vision-based robotic systems with the Signal environment. Int. Journal of Robotics Research, 17(4):418-432, April 1998. details
  • E. Rutten, E. Marchand, F. Chaumette. An experiment with reactive data-flow tasking in active robot vision. Software: Practice & Experience, 27(5):599-621, May 1997. details

Teaching

I teach various courses at the Université de Rennes 1

  • Computer Vision : geometric viewpoint (Master of Computer Science)
  • Computer Vision (DIIC3 INC)
  • Software engineering for image processing (DIIC2 INC)
 

Focus
alt Second prototype of FlyVIZ demoed at "Fetes de la Science"

alt
Kick-off of the RemoveDebris FP7 project


alt FlyVIZ dans E=M6
avec J. Ardouin, A. Lecuyer, et M. Marchal

alt IJRR special issue on robot vision


Guest Editor :
Jana Kosecka,
Eric Marchand,
Peter Corke

Deadline: 1st august 2013
alt FlyVIZ : un casque qui permet de voir dans toutes les directions

avec J. Ardouin, A. Lecuyer, et M. Marchal

ACM VRST12
alt Tracking for space robotics applications

with Antoine Petit

IEEE/RSJ IROS 2012 , IAC 2012

alt 3D direct visual servoing

with Céline Teulière

IEEE/RSJ IROS 2012
alt Toward augmenting everything

with Hideaki Uchiyama

IEEE ISMAR 2011
alt Amaury Dame récompensé pour sa thèse

Accessit au prix de thèse 2010 du GDR Robotique
alt Satellite Rendezvous

with EADS Astrium

ESA GNC 2011

IEEE/RSJ IROS 2011
alt Chasing a moving target from
a flying UAV


IEEE/RSJ IROS 2011
alt Workshop on Visual Tracking and Omnidirectional Vision

In conjonction with IEEE/RSJ IROS 2011
alt Mutual information-based non holonomic vehicle navigation

IEEE ICRA'11

alt IEEE ISMAR 2010 Best Paper Runner-Up Award

for the paper on real-time multimodal registration
alt Mutual information-based tracking

real-time multimodal registration

IEEE ISMAR'10
IEEE T. on Image Processing

demonstration page
alt ANR AM Gamme Project

image thanks to Polymorph, MBAR

IEEE ISMAR'10

vidéo fin de projet
alt Omnidirectional Photometric Visual Servoing

IEEE IROS'10

alt 3D model-based tracking for UAV position control

IEEE IROS'10

alt RobM@rket

ANR Psyrob project
alt Positioning micro-robot with 100nm accuracy

Collaboration with Femto-St, AS2M

IEEE Trans. on Mechatronics
IEEE ICRA 2011

alt
Appointed as IEEE T-RO Associate editor
alt Multiple hypothesis in model-based tracking

IEEE ICRA'10

alt
alt
Visual servoing based on mutual information

IEEE ICRA'09 IEEE ICRA'10

IEEE T-RO
alt New demo related to "A Redundancy-based Iterative Approach for Avoiding Joint Limits"

IEEE TRO'01

alt Mutual information-based keypoint tracking

IEEE ICIP'09

alt Pose and calibration for omnidirectional catadioptric stereovision systems

Collaboration with MIS, Université de Picardie Jules Verne


IEEE IROS'09
Robotics and autonomous systems 2012
alt Visual SLAM

Thèse Fabien Servant
ICPR'08 IROS'10

alt ORASIS'09
Trégastel, Tregor, Bretagne
alt Particle filtering and multiple kernel tracking

IEEE ICRA'09

alt NEMS and MEMS tracking and manipulation
Collaboration with Femto-St, AS2M

IJRR
IEEE AIM'09 IEEE IROS'09

alt Pegase project

Landing at Marignane airport
alt Photometric visual servoing

IEEE T-RO
IEEE ICRA'07
IEEE ICRA'08 IEEE CVPR'08
IEEE ICRA'09 IEEE IROS'09
alt ARC INRIA H-VIS

Vision, navigation et actions intentionnelles des robots humanoïdes
alt European Space Agency
ESA ITT project Vimanco

image thanks to ESA

IEEE IROS'07
Best Application paper award
alt Invited talk "Augmented reality" Coresa'2007, november 2007.
alt Invited talk 5th European Machine Vision Business Conference, Lyon, june 2007
plenary talk on "Visual servoing and visual servoing for robotics application".
alt Fitting 3D model to catadioptric images

IEEE ICRA'07
alt GDR ISIS journée thématique
Suivi visuel robuste en temps-reel,
16 novembre 2006, ENST Paris
alt Contour/texture tracking
IJRR 2007 ,
IEEE/ACM ISMAR'06
alt Model-based tracking
IEEE TVCG
IEEE/ACM ISMAR'03
alt ViSP-2
A software environment for visual servoing
 
IEEE Robotics and Automation Magazine

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