remi regnier - Academia.edu (original) (raw)
Papers by remi regnier
2023 IEEE/SICE International Symposium on System Integration (SII)
2022 European Control Conference (ECC)
The safety assessment of autonomous driving system is a major challenge in the automotive industr... more The safety assessment of autonomous driving system is a major challenge in the automotive industry and the role of simulation in development and testing of autonomous vehicles has become predominant to significantly reduce the hundreds of millions of miles required to demonstrate the safety performance of such systems. In this paper, a novel methodology is presented to assess automated vehicles safety performance based on a multifactorial analysis of severity indicators in the vicinity of the under test self-driving car. The set of severity indicators includes commonly used time intervals (Inter Vehicular Time, Time to Collision, Time to Steer, ...), distance-based indicators, traffic congestion indicators and a newly developed indicator relying on overlapping geometrical regions. Unsupervised clustering techniques are then used to investigate the correlations, dependence among the whole set of indicators. To address the problem of combining these heterogeneous quantities to derive a global measure of dangerousness for a given scenario, appropriate scaling is performed and various aggregation methods are tested against cut-in, cutout and cut-through scenarios.
2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)
Motion planning is a major component of any automated driving system. The safety assessment of su... more Motion planning is a major component of any automated driving system. The safety assessment of such components requires a formal characterization of the perception and control mechanisms. This requires dedicated tools and models for the environment, sensors and vehicles that are highly representative of the real world. Simulation is a method to virtually investigate the behavior of systems under study. It has a key role to play in demonstrating the safety of autonomous vehicles. In this context, we consider a control module as a black-box and try to determine a reference which represents the 'right decision', if it exists. An optimization-based reference model is created for the control function. This model allows each scene in the environment to be mapped to the desired decision regardless of the black-box. The black-box and the reference model are run on several critical scenarios. In output, an assessment of decision making is performed along with systematic criticality characterization of targeted scenarios.
2010 Annual International Conference of the IEEE Engineering in Medicine and Biology, 2010
The Radon transform (RT) on straight lines deals as mathematical foundation for many tomographic ... more The Radon transform (RT) on straight lines deals as mathematical foundation for many tomographic modalities (e.g. Xray scanner, Positron Emission Tomography), using only primary radiation. In this paper, we consider a new RT defined on a pair of half-lines forming a letter V, arising from the modeling a two-dimensional emission imaging process by Compton scattered gamma rays. We establish its
Cofrend Dunkerque Mai 2011, 2011
Http Www Theses Fr, Jun 18, 2014
Je voudrais dans un premier temps remercier ma directrice de thèse Maï Nguyen et le support finan... more Je voudrais dans un premier temps remercier ma directrice de thèse Maï Nguyen et le support financier de la Direction Générale de l'Armement (DGA) et de l'université de Cergy Pontoise sans qui cette thèse n'aurait pas pu voir le jour. J'aimerais aussi exprimer toute ma reconnaissance à l'équipe de recherche du laboratoire ETIS pour leur accueil, leurs conseils et leur disponibilité durant ces quelques années. Je tiens à remercier tous les doctorants de ce laboratoire pour leur amitié, leur soutien, leur passion pour les sciences et leur bonne humeur communicative, notamment Romain Tajan, Alan Jule, Laurent Rodriguez, Liang Zhu et Jean-Christophe Sibel. Je voudrais aussi remercier le professeur Alfred Louis pour son accueil et son aide scientifique lors de mes visites à l'Institute of Applied Mathematics de l'université des Saarlandes. Je remercie le professeur Jocelyn Chanussot et le directeur de recherche CNRS Ali Mohammad-Djafari de m'avoir fait l'honneur d'être mes rapporteurs. Je remercie également le professeur François Le Chevalier et Mme Véronique Serfaty pour avoir accepté d'être membres de mon jury de thèse et je tiens à remercier vivement les membres du jury ainsi que Christian Faye de l'intérêt qu'ils ont porté à mes travaux de recherche. Je tiens à remercier ma famille, mon père, ma mère, ma soeur et mes frères ainsi que tous mes amis proches pour leurs encouragements et soutiens. Enfin je tenais tout particulièrement à remercier Gaël Rigaud pour son amitié indéfectible et sa fructueuse collaboration sur certains travaux de ma thèse.
Mathematical Problems in Engineering, 2015
Simple reflection imaging of landscape (scenery or extended objects) poses the inverse problem of... more Simple reflection imaging of landscape (scenery or extended objects) poses the inverse problem of reconstructing the landscape reflectivity function from its integrals on some particular family of spheres. Such data acquisition is encoded in the framework of a Radon transform on this family of spheres. In spite of the existence of an exact inversion formula, the numerical landscape reflectivity function reconstitution is best obtained with an approximate but judiciously chosen reconstruction kernel. We describe the working of this reflection imaging modality and its theoretical handling, introduce an efficient and stable image reconstruction algorithm, and present simulation results to prove the validity of this choice as well as to demonstrate the feasibility of this imaging process.
The Radon transform (RT) on straight lines deals as mathematical foundation for many imaging syst... more The Radon transform (RT) on straight lines deals as mathematical foundation for many imaging systems (e.g. X-ray scanner, Positron Emission Tomography) operating only with non-scattered (primary) radiation. Using Compton scattered radiation has turned out to be an attractive alternative to conventional emission imaging. In this paper, we propose a new two-dimensional emission imaging from Compton scattered gamma-rays. Its modeling leads to a Radon transform defined on a pair of half-lines forming a vertical letter V (TV). Moreover we establish the analytic inverse formula of this new TV, which forms the mathematical basis for image reconstruction. Through simulations, image formation and reconstruction results show the feasibility and the relevance of this new imaging. The main advantage is to use a one-dimensional non-moving detector for two-dimensional image reconstruction.
Compton scattering tomography (CST) is an alternative imaging process which reconstructs, slice b... more Compton scattering tomography (CST) is an alternative imaging process which reconstructs, slice by slice, the electron density of an object by collecting radiation emitted by an external source and scattered throughout the object. A new CST modality, has been proposed based on a Radon Transform over a family of circular arcs but no attenuation factor was taken into account. Reconstruction of the unknown electron density is achieved by the inversion of the corresponding circular-arcs Radon transform (CART). In this work, medium attenuation factor is considered in the modelling and we propose an iterative correction algorithm to compensate this issue.Thus the feasibility of this new CST modality under realistic working conditions is demonstrated.
AIP Conference Proceedings, 2010
A new Radon transform defined on a discontinuous curve formed by a pair of half-lines forming a l... more A new Radon transform defined on a discontinuous curve formed by a pair of half-lines forming a letter V is defined and studied. We establish its analytic inverse formula, its related filtered back-projection reconstruction procedure and its numerical analysis. These theoretical results allow the reconstruction of two-dimensional images of a radiating object from its Compton scattered rays measured on a one-dimensional collimated camera. Numerical simulations results illustrate the performance of the new imaging process.
2013 IEEE International Conference on Acoustics, Speech and Signal Processing, 2013
ABSTRACT
2013 IEEE International Conference on Image Processing, 2013
The rigourous mathematical model for radar emission and scattering is given by Maxwell's equa... more The rigourous mathematical model for radar emission and scattering is given by Maxwell's equations of electromagnetism. But due to the complexity of deriving a reconstruction formula based directly on these equations, other solutions are prefered to solve the mathematical problems in Synthetic Aperture Radar (SAR). Thus the modelling of SAR by a spherical Radon transform (SRT) appears as an interesting approach for the inversion of such data and could be used in some cases like high squint and ultra-wideband SAR. In this paper, a new algorithm is proposed for the stable inversion of measurement (SRT) and simulation results demonstrate the theoretical feasibility and viability of the algorithm.
2011 18th IEEE International Conference on Image Processing, 2011
The Radon transform (RT) on straight lines deals as mathematical foundation for conventional tomo... more The Radon transform (RT) on straight lines deals as mathematical foundation for conventional tomographic imaging (e.g. X-ray scanner, Single Photon Emission Computed Tomography (SPECT), Positron Emission Tomography (PET)) which use only one physical phenomenon, i.e. either transmission or emission of radiation. An imaging concept exploiting jointly two phenomena leads to a Radon transform defined on a geometrical support different from straight lines. In this paper, we propose a new two-dimensional X-ray imaging based on the coupling between transmission and reflection. Its modeling leads to a Radon transform defined on a pair of half-lines forming a vertical letter V, called V-line RT (V-RT). Moreover we establish the analytic inverse formula of this new transform, which forms the mathematical basis for image reconstruction. Through simulations, image formation and reconstruction results show the feasibility of this new imaging. The main advantage is the use of an one-dimensional detector which does not rotate for two-dimensional image reconstruction.
IEEE Transactions on Nuclear Science, 2013
2023 IEEE/SICE International Symposium on System Integration (SII)
2022 European Control Conference (ECC)
The safety assessment of autonomous driving system is a major challenge in the automotive industr... more The safety assessment of autonomous driving system is a major challenge in the automotive industry and the role of simulation in development and testing of autonomous vehicles has become predominant to significantly reduce the hundreds of millions of miles required to demonstrate the safety performance of such systems. In this paper, a novel methodology is presented to assess automated vehicles safety performance based on a multifactorial analysis of severity indicators in the vicinity of the under test self-driving car. The set of severity indicators includes commonly used time intervals (Inter Vehicular Time, Time to Collision, Time to Steer, ...), distance-based indicators, traffic congestion indicators and a newly developed indicator relying on overlapping geometrical regions. Unsupervised clustering techniques are then used to investigate the correlations, dependence among the whole set of indicators. To address the problem of combining these heterogeneous quantities to derive a global measure of dangerousness for a given scenario, appropriate scaling is performed and various aggregation methods are tested against cut-in, cutout and cut-through scenarios.
2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)
Motion planning is a major component of any automated driving system. The safety assessment of su... more Motion planning is a major component of any automated driving system. The safety assessment of such components requires a formal characterization of the perception and control mechanisms. This requires dedicated tools and models for the environment, sensors and vehicles that are highly representative of the real world. Simulation is a method to virtually investigate the behavior of systems under study. It has a key role to play in demonstrating the safety of autonomous vehicles. In this context, we consider a control module as a black-box and try to determine a reference which represents the 'right decision', if it exists. An optimization-based reference model is created for the control function. This model allows each scene in the environment to be mapped to the desired decision regardless of the black-box. The black-box and the reference model are run on several critical scenarios. In output, an assessment of decision making is performed along with systematic criticality characterization of targeted scenarios.
2010 Annual International Conference of the IEEE Engineering in Medicine and Biology, 2010
The Radon transform (RT) on straight lines deals as mathematical foundation for many tomographic ... more The Radon transform (RT) on straight lines deals as mathematical foundation for many tomographic modalities (e.g. Xray scanner, Positron Emission Tomography), using only primary radiation. In this paper, we consider a new RT defined on a pair of half-lines forming a letter V, arising from the modeling a two-dimensional emission imaging process by Compton scattered gamma rays. We establish its
Cofrend Dunkerque Mai 2011, 2011
Http Www Theses Fr, Jun 18, 2014
Je voudrais dans un premier temps remercier ma directrice de thèse Maï Nguyen et le support finan... more Je voudrais dans un premier temps remercier ma directrice de thèse Maï Nguyen et le support financier de la Direction Générale de l'Armement (DGA) et de l'université de Cergy Pontoise sans qui cette thèse n'aurait pas pu voir le jour. J'aimerais aussi exprimer toute ma reconnaissance à l'équipe de recherche du laboratoire ETIS pour leur accueil, leurs conseils et leur disponibilité durant ces quelques années. Je tiens à remercier tous les doctorants de ce laboratoire pour leur amitié, leur soutien, leur passion pour les sciences et leur bonne humeur communicative, notamment Romain Tajan, Alan Jule, Laurent Rodriguez, Liang Zhu et Jean-Christophe Sibel. Je voudrais aussi remercier le professeur Alfred Louis pour son accueil et son aide scientifique lors de mes visites à l'Institute of Applied Mathematics de l'université des Saarlandes. Je remercie le professeur Jocelyn Chanussot et le directeur de recherche CNRS Ali Mohammad-Djafari de m'avoir fait l'honneur d'être mes rapporteurs. Je remercie également le professeur François Le Chevalier et Mme Véronique Serfaty pour avoir accepté d'être membres de mon jury de thèse et je tiens à remercier vivement les membres du jury ainsi que Christian Faye de l'intérêt qu'ils ont porté à mes travaux de recherche. Je tiens à remercier ma famille, mon père, ma mère, ma soeur et mes frères ainsi que tous mes amis proches pour leurs encouragements et soutiens. Enfin je tenais tout particulièrement à remercier Gaël Rigaud pour son amitié indéfectible et sa fructueuse collaboration sur certains travaux de ma thèse.
Mathematical Problems in Engineering, 2015
Simple reflection imaging of landscape (scenery or extended objects) poses the inverse problem of... more Simple reflection imaging of landscape (scenery or extended objects) poses the inverse problem of reconstructing the landscape reflectivity function from its integrals on some particular family of spheres. Such data acquisition is encoded in the framework of a Radon transform on this family of spheres. In spite of the existence of an exact inversion formula, the numerical landscape reflectivity function reconstitution is best obtained with an approximate but judiciously chosen reconstruction kernel. We describe the working of this reflection imaging modality and its theoretical handling, introduce an efficient and stable image reconstruction algorithm, and present simulation results to prove the validity of this choice as well as to demonstrate the feasibility of this imaging process.
The Radon transform (RT) on straight lines deals as mathematical foundation for many imaging syst... more The Radon transform (RT) on straight lines deals as mathematical foundation for many imaging systems (e.g. X-ray scanner, Positron Emission Tomography) operating only with non-scattered (primary) radiation. Using Compton scattered radiation has turned out to be an attractive alternative to conventional emission imaging. In this paper, we propose a new two-dimensional emission imaging from Compton scattered gamma-rays. Its modeling leads to a Radon transform defined on a pair of half-lines forming a vertical letter V (TV). Moreover we establish the analytic inverse formula of this new TV, which forms the mathematical basis for image reconstruction. Through simulations, image formation and reconstruction results show the feasibility and the relevance of this new imaging. The main advantage is to use a one-dimensional non-moving detector for two-dimensional image reconstruction.
Compton scattering tomography (CST) is an alternative imaging process which reconstructs, slice b... more Compton scattering tomography (CST) is an alternative imaging process which reconstructs, slice by slice, the electron density of an object by collecting radiation emitted by an external source and scattered throughout the object. A new CST modality, has been proposed based on a Radon Transform over a family of circular arcs but no attenuation factor was taken into account. Reconstruction of the unknown electron density is achieved by the inversion of the corresponding circular-arcs Radon transform (CART). In this work, medium attenuation factor is considered in the modelling and we propose an iterative correction algorithm to compensate this issue.Thus the feasibility of this new CST modality under realistic working conditions is demonstrated.
AIP Conference Proceedings, 2010
A new Radon transform defined on a discontinuous curve formed by a pair of half-lines forming a l... more A new Radon transform defined on a discontinuous curve formed by a pair of half-lines forming a letter V is defined and studied. We establish its analytic inverse formula, its related filtered back-projection reconstruction procedure and its numerical analysis. These theoretical results allow the reconstruction of two-dimensional images of a radiating object from its Compton scattered rays measured on a one-dimensional collimated camera. Numerical simulations results illustrate the performance of the new imaging process.
2013 IEEE International Conference on Acoustics, Speech and Signal Processing, 2013
ABSTRACT
2013 IEEE International Conference on Image Processing, 2013
The rigourous mathematical model for radar emission and scattering is given by Maxwell's equa... more The rigourous mathematical model for radar emission and scattering is given by Maxwell's equations of electromagnetism. But due to the complexity of deriving a reconstruction formula based directly on these equations, other solutions are prefered to solve the mathematical problems in Synthetic Aperture Radar (SAR). Thus the modelling of SAR by a spherical Radon transform (SRT) appears as an interesting approach for the inversion of such data and could be used in some cases like high squint and ultra-wideband SAR. In this paper, a new algorithm is proposed for the stable inversion of measurement (SRT) and simulation results demonstrate the theoretical feasibility and viability of the algorithm.
2011 18th IEEE International Conference on Image Processing, 2011
The Radon transform (RT) on straight lines deals as mathematical foundation for conventional tomo... more The Radon transform (RT) on straight lines deals as mathematical foundation for conventional tomographic imaging (e.g. X-ray scanner, Single Photon Emission Computed Tomography (SPECT), Positron Emission Tomography (PET)) which use only one physical phenomenon, i.e. either transmission or emission of radiation. An imaging concept exploiting jointly two phenomena leads to a Radon transform defined on a geometrical support different from straight lines. In this paper, we propose a new two-dimensional X-ray imaging based on the coupling between transmission and reflection. Its modeling leads to a Radon transform defined on a pair of half-lines forming a vertical letter V, called V-line RT (V-RT). Moreover we establish the analytic inverse formula of this new transform, which forms the mathematical basis for image reconstruction. Through simulations, image formation and reconstruction results show the feasibility of this new imaging. The main advantage is the use of an one-dimensional detector which does not rotate for two-dimensional image reconstruction.
IEEE Transactions on Nuclear Science, 2013