François Chaumette

Email : Francois.Chaumette@irisa.fr Address : IRISA / INRIA Rennes Campus de Beaulieu 35 042 Rennes cedex, France Tel : +33 2 99 84 72 55 Fax : +33 2 99 84 71 71 Assistant : +33 2 99 84 22 52 (Céline Ammoniaux)

Vitae and research interests

I was born in Nantes, France, in December 1963 and graduated from Ecole Nationale Supérieure de Mécanique, Nantes, in 1987.
I received the Ph.D. degree and "Habilitation à Diriger des Recherches" in Computer Science from the University of Rennes in 1990 and 1998 respectively.

Since 1990, I am with INRIA, at IRISA in Rennes where my current position is "Directeur de Recherches".
At IRISA, I have been a member of the TEMIS group (from 1990 to 1996), then of the VISTA group (from 1997 to 2003), and I am now the head of the LAGADIC group.

In 1991, I received the AFCET / CNRS Prize for the best french thesis in Automatic Control
In 2002, I received with Ezio Malis the King-Sun Fu Memorial Best Transactions Paper Award for the paper titled: "Theoretical improvements in the stability analysis of a new class of model-free visual servoing methods". IEEE Trans. on Robotics and Automation, 18(2):176-186, April 2002.

I am involved in several national and international projects, some in direct connection with French industrial partners.
I have served in the programme committee of several major conferences in computer vision and robotics: ICRA'00, CVPR'00, ICCV'01, ECCV'02, IROS'02, CVPR'03, ECCV'04, MICCAI'04, ICRA'05, CVPR'05, ICCV'05, ICRA'06, ECCV'06, ICPR'06, IROS'06, ICRA'07, CVPR'07, RSS'07, IROS'07, ICRA'08, CVPR'08, RSS'08, CISA'08, ICRA'09, CISA'09, Robotica'09, ETFA'09, IROS'09.
I have been Associate Editor of the IEEE Trans. on Robotics and Automation and of the IEEE Trans. on Robotics from 2001 until 2005. I am currently in the Editorial Board of the Int. Journal of Robotics Research and Associate Editor of the Int. Journal of Optomechatronics .

My research interests include visual servoing, active vision, robotics, and computer vision.

Ph.D. students

Caroline Nadeau, co-supervised with Alexandre Krupa
Olivier Kermorgant
Rafik Mebarki, co-supervised with Alexandre Krupa
Mohammed Marey

Roméo Tatsambon, Ph.D. in 2008
Odile Bourquardez, Ph.D. in 2008
Nicolas Mansard, Ph.D. in 2006
Jordi Pagès, Ph.D. in 2005, co-supervised with Christophe Collewet and Joaquim Salvi
Andrew Comport, Ph.D. in 2005, co-supervised with Eric Marchand
Anthony Remazeilles, Ph.D. in 2004, co-supervised with Patrick Gros
Ali Alhaj, Ph.D. in 2004, co-supervised with Christophe Collewet
Omar Tahri, Ph.D. in 2004
Grégory Flandin, Ph.D. in 2001
Youcef Mezouar, Ph.D. in 2001
Christophe Collewet, Ph.D. in 1999
Ezio Malis, Ph.D. in 1998
Armel Crétual, Ph.D. in 1998
Farabi Bensalah, Ph.D. in 1996
Eric Marchand, Ph.D. in 1996
Samia Boukir, Ph.D. in 1993, co-supervised with Patrick Bouthemy

Selected publications

(see here for the full list, with pdf files if allowed by copyright)

Robot control

• N. Mansard, F. Chaumette - Directional redundancy for robot control. -
  IEEE Trans. on Automatic Control, To appear, 2009.

Visual servoing

• S. Segvic, A. Remazeilles, A. Diosi, F. Chaumette - A mapping and localization framework for scalable appearance-based navigation -
  Computer Vision and Image Understanding, September 2008.
• N. Mansard, F. Chaumette - Task sequencing for sensor-based control. -
  IEEE Trans. on Robotics, 23(1):60-72, February 2007.
• F. Chaumette, S. Hutchinson - Visual Servo Control, Part I: Basic Approaches and Part II: Advanced Approaches
  IEEE Robotics and Automation Magazine 13(4):82-90, December 2006 and 14(1):109-118, March 2007.
• F. Chaumette - Visual Servoing -
  Robot manipulators: Modeling, Performance Analysis and Control , E. Dombre and W. Khalil (éd.), Chap. 6, pp. 279-336, ISTE 2007.
• O. Tahri, F. Chaumette - Point-based and region-based image moments for visual servoing of planar objects -
  IEEE Trans. on Robotics, 21(6):1116-1127, December 2005.
• E. Marchand, F. Spindler, F. Chaumette - ViSP for visual servoing
  IEEE Robotics and Automation Magazine, 12(4):40-52, December 2005.
• F. Chaumette - Image moments: a general and useful set of features for visual servoing -
  IEEE Trans. on Robotics, 20(4):713-723, August 2004.
• Y. Mezouar, F. Chaumette - Path planning for robust image-based control -
  IEEE Trans. on Robotics and Automation, 18(4):534-549, August 2002.
• A. Crétual, F. Chaumette - Visual servoing based on image motion -
  Int. Journal of Robotics Research , 20(11):857-877, November 2001.
• E. Malis, F. Chaumette, S. Boudet - 2 1/2 D visual servoing -
  IEEE Trans. on Robotics and Automation, 15(2):238-250, April 1999.
• F. Chaumette - Potential problems of stability and convergence in image-based and position-based visual servoing -
  In The Confluence of Vision and Control, D. Kriegman, G. Hager, A.S. Morse (eds.), LNCIS Series, No 237, pp. 66-78, Springer-Verlag, 1998.
• B. Espiau, F. Chaumette, P. Rives - A new approach to visual servoing in robotics -
  IEEE Trans. on Robotics and Automation, 8(3):313-326, June 1992.

Visual tracking

• 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(4), July 2006.
• E. Marchand, F. Chaumette - Feature tracking for visual servoing purposes -
  Robotics and Autonomous Systems, 52(1):53-70, July 2005.
• S. Boukir, P. Bouthemy, F. Chaumette, D. Juvin - A local method for contour matching and its parallel implementation -
  Machine Vision and Applications, 10(5):321-330, April 1998.

Active vision

• C. Collewet, F. Chaumette - Visual servoing based on structure from controlled motion or on robust statistics -
  IEEE Trans. on Robotics, 24(2):313-330, April 2008.
• G. Flandin, F. Chaumette - Visual data fusion for objects localization by active vision -
  ECCV'2002, LNCS 2353, pages 312-326, Copenhaguen, Denmark, May 2002.
• 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.
• F. Chaumette, S. Boukir, P. Bouthemy, D. Juvin - Structure from controlled motion -
  IEEE Trans. on Pattern Analysis and Machine Intelligence, 18(5):492-504, May 1996.

Robot programming

• 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, Special Issue on Integrated Architectures for Robot Control and Programming, 17(4):418-432, April 1998.