I graduated from École Centrale Paris in 2004, then joined the centre of Arcelor Research in Metz, for process innovation and optimisation in galvanization, hot rolling and general research in experimental design.
Since October 2008, I'm a PhD student under the supervision of François Chaumette. My thesis is financed by the ANR project Scuav and my approach is to develop a sensor fusion framework. My research areas deal with low-level sensor fusion, sensor calibration and the application on UAV.
The principle of this new framework is to use the kinematic model of the sensor, that links the sensor signal variations to the robot end-effector velocity. During the robot task, these values are linked through the interaction matric (that depends on the sensor intrinsic parameters) and a twist transformation matrix (that depends on the sensor extrinsic parameters). The jacobian of the kinematic model can be expressed, and the sensor can be calibrated by using the features of the performed task.
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