P. Bonnin | Université Versailles Saint-Quentin en Yvelines (original) (raw)

Papers by P. Bonnin

Proceedings 1st International Conference on Algorithms and Architectures for Parallel Processing

ABSTRACT

Proceedings of the First International Conference on Massively Parallel Computing Systems (MPCS) The Challenges of General-Purpose and Special-Purpose Computing

Vision computing involves the execution of a large number of operations on large sets of structur... more Vision computing involves the execution of a large number of operations on large sets of structured data. The need for very high speed processing in image processing means parallel architectural solutions have to be explored. In this paper we propose the development of a dynamic texture analysis system using a multiprocessor system MEAP. The project is aimed to recognize and delineate the texture of image regions with robustness and reliability at less computation cost. Based on the successful prototype texture analysis system previously implemented sequentially by us, the system is expected to be flexible for parallel extension with a multiprocessor. The dynamic approach detailed involves a mask tuning scheme for the establishment of a rotational and scale invariant texture classification system in parallel

IFAC Proceedings Volumes, 2004

This paper is concerned with a software framework for real-time computing which supports a compon... more This paper is concerned with a software framework for real-time computing which supports a component based system design targeted to robotic applications. We are providing a set of free open-source software components that enhance LINUX/RTAI by supplying it with a library that contains both system-level modules including dynamic schedulers and Fault-tolerance mechanisms, and user-level modules dedicated to real-time vision and automatic control.

Proceedings of the Eighth International Symposium on Signal Processing and Its Applications, 2005.

ABSTRACT

... Le but est de faire jouer les robots au football, par équipe de 3 joueurs. Les divers élément... more ... Le but est de faire jouer les robots au football, par équipe de 3 joueurs. Les divers éléments de la scène : la balle (orange), les buts (jaune et bleu clair), les joueurs (rouge et bleu foncé), le terrain (vert avec ses bords blancs) sont discernables par leurs couleurs respectives. ...

4th Workshop of …, 2010

In this paper we detail an algorithm that deals with objects and shape recognition based on color... more In this paper we detail an algorithm that deals with objects and shape recognition based on color groups identification. The algorithm can dynamically adjust the unit set of pixels used to define color groups. Each color group is selected from the current scene. The algorithm is optimized to run faster than classical ones. Experiments were conducted on soccer images captured from real situations of the standard platform league (SPL). They also show the influence of camera parameters like contrast and gain. They lead to the conclusion that a set of rules could help to aggregate color groups and to identify scenes according to a classical predefined color look-up table (CLUT).

-Nous présentons la programmation d'un Système de Vision Temps Réel Embarqué sur un robot quadrup... more -Nous présentons la programmation d'un Système de Vision Temps Réel Embarqué sur un robot quadrupède mobile et autonome, conçu et réalisé par SONY dans le contexte de la RoboCup (compétition de robots jouant au football en équipe). Nous analysons les problèmes rencontrés par le système de vision temps réel : l'éclairage, la puissance de calcul disponible, ainsi que le contexte temps réel dans le cas d'un robot à pattes.

Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics, 2019

The objective of this work is to use efficiently various sensors to create a SLAM system. This al... more The objective of this work is to use efficiently various sensors to create a SLAM system. This algorithm has to be fast (real-time), computationally light and efficient enough to allow the robot to navigate in the environment. Because other processes embedded require large amount of cpu-time, our objective was to use efficiently complementary sensors to obtain a fairly accurate localization with minimal computation. To reach this, we used a combination of two sensors: a 2D lidar and a camera, mounted above each other on the robot and oriented toward the same direction. The objective is to pinpoint and cross features in the camera and lidar FOV. Our optimized algorithms are based on segments detection. We decided to observe intersections between vertical lines seen with the camera and locate them in 3D with the ranges provided by the 2D lidar. First we implemented a RGB vertical line detector using RGB gradient and linking process, then a lidar data segmentation with accelerated computation and finally we used this feature detector in a Kalman filter. The final code is evaluated and validated using an advanced real-time robotic simulator and later confirmed with a real experiment.

Seventh International Symposium on Signal Processing and Its Applications, 2003. Proceedings., 2003

Taking into account the constraints of mobile and autonomous robotics, and the tasks devoted to t... more Taking into account the constraints of mobile and autonomous robotics, and the tasks devoted to the vision system embedded on different robots for various applications, we propose a research in matter of fast pixel gathering mechanisms for the connected component extraction and the color region segmentation. In this work, we studied three different mechanisms, and proposed a new method to

Lecture Notes in Computer Science, 2006

Whereas numerous methods are used for vision systems embedded on robots, only a few use colored r... more Whereas numerous methods are used for vision systems embedded on robots, only a few use colored region segmentation mainly because of the processing time. In this paper, we propose a real-time (i.e. video rate) color region segmentation followed by a robust color classification and region merging dedicated to various applications such as RoboCup four-legged league or an industrial conveyor wheeled robot. Performances of this algorithm and confrontation with other existing methods are provided. Thanks to the RNTL. This work is partly supported by the French research office, grant number 01 K 0742, under the name of CLÉOPATRE project.

Applications of Digital Image Processing XXVIII, 2005

Proceedings of the 9th International Conference on Computer Vision Theory and Applications, 2014

A new algorithm to detect straight edge parts which form the contour of an object presented in an... more A new algorithm to detect straight edge parts which form the contour of an object presented in an image is discussed in this paper. This algorithm is very robust and can detect true straight edges even when their pixel's locations are not straight due to natural noise at the object borders. These straight edges are than used to report and classify contour's corners according to their angle and their adjacent segments lengths. A new technique for polygonal approximation is also presented to find the best set among these corners to construct the polygon vertices that best describe the approximating contour. It starts by eliminating the corners, one after the other using Iterative Corner Suppression (ICS) process. This in turn enables us to obtain the smallest possible error in the approximation. Experimental results demonstrate the efficiency of this technique in comparison with recently proposed algorithms.

Advanced Concepts for Intelligent Vision Systems

Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics, 2014

We propose a real time method for moving target detection from a camera embedded on a UAV. As the... more We propose a real time method for moving target detection from a camera embedded on a UAV. As the camera is moving, we must estimate the background motion in order to compensate it and then perform the moving target detection. This compensation is realized by an image registration method. For this, we use an hybrid method using global minimization and feature-based approaches, with a pyramidal implementation. The good results obtained for registration give us the potential moving targets. As some wrong detections still appear, due to noise, occlusions or local change of illuminations, we worked on a robust spatio-temporal tracker able to decide if potential targets are real moving targets or not. The algorithm must reach real time performances for VGA images at 30 fps with a standard PC. We have tested our method on different sequences and show the good results obtained thanks to the high precision in the image registration and the spatio-temporal tracker.

RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication, 2009

In this paper, a real time tracking system by vision is presented. Thanks to it, the interaction ... more In this paper, a real time tracking system by vision is presented. Thanks to it, the interaction between the human and the robot is simplified for example, in the case of the remote control of mobile robot. The operator selects the target to the proposed vision system, pointing out its border. Then, with the visual feedback, he can simply follow

Proceedings 1999 International Conference on Image Processing (Cat. 99CH36348), 1999

The design and optimised (in time and space) implementation of a systolic circuit dedicated to ae... more The design and optimised (in time and space) implementation of a systolic circuit dedicated to aerial image matching is proposed. The final run time data adaptive architecture evaluation with Xilinx XC 4010 XL offers the equivalent processing speed-up of 2000 (compared to a sequential solution)

Proceedings 1st International Conference on Algorithms and Architectures for Parallel Processing, 1995

ABSTRACT

Proceedings 1st International Conference on Algorithms and Architectures for Parallel Processing

ABSTRACT

Proceedings of the First International Conference on Massively Parallel Computing Systems (MPCS) The Challenges of General-Purpose and Special-Purpose Computing

Vision computing involves the execution of a large number of operations on large sets of structur... more Vision computing involves the execution of a large number of operations on large sets of structured data. The need for very high speed processing in image processing means parallel architectural solutions have to be explored. In this paper we propose the development of a dynamic texture analysis system using a multiprocessor system MEAP. The project is aimed to recognize and delineate the texture of image regions with robustness and reliability at less computation cost. Based on the successful prototype texture analysis system previously implemented sequentially by us, the system is expected to be flexible for parallel extension with a multiprocessor. The dynamic approach detailed involves a mask tuning scheme for the establishment of a rotational and scale invariant texture classification system in parallel

IFAC Proceedings Volumes, 2004

This paper is concerned with a software framework for real-time computing which supports a compon... more This paper is concerned with a software framework for real-time computing which supports a component based system design targeted to robotic applications. We are providing a set of free open-source software components that enhance LINUX/RTAI by supplying it with a library that contains both system-level modules including dynamic schedulers and Fault-tolerance mechanisms, and user-level modules dedicated to real-time vision and automatic control.

Proceedings of the Eighth International Symposium on Signal Processing and Its Applications, 2005.

ABSTRACT

... Le but est de faire jouer les robots au football, par équipe de 3 joueurs. Les divers élément... more ... Le but est de faire jouer les robots au football, par équipe de 3 joueurs. Les divers éléments de la scène : la balle (orange), les buts (jaune et bleu clair), les joueurs (rouge et bleu foncé), le terrain (vert avec ses bords blancs) sont discernables par leurs couleurs respectives. ...

4th Workshop of …, 2010

In this paper we detail an algorithm that deals with objects and shape recognition based on color... more In this paper we detail an algorithm that deals with objects and shape recognition based on color groups identification. The algorithm can dynamically adjust the unit set of pixels used to define color groups. Each color group is selected from the current scene. The algorithm is optimized to run faster than classical ones. Experiments were conducted on soccer images captured from real situations of the standard platform league (SPL). They also show the influence of camera parameters like contrast and gain. They lead to the conclusion that a set of rules could help to aggregate color groups and to identify scenes according to a classical predefined color look-up table (CLUT).

-Nous présentons la programmation d'un Système de Vision Temps Réel Embarqué sur un robot quadrup... more -Nous présentons la programmation d'un Système de Vision Temps Réel Embarqué sur un robot quadrupède mobile et autonome, conçu et réalisé par SONY dans le contexte de la RoboCup (compétition de robots jouant au football en équipe). Nous analysons les problèmes rencontrés par le système de vision temps réel : l'éclairage, la puissance de calcul disponible, ainsi que le contexte temps réel dans le cas d'un robot à pattes.

Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics, 2019

The objective of this work is to use efficiently various sensors to create a SLAM system. This al... more The objective of this work is to use efficiently various sensors to create a SLAM system. This algorithm has to be fast (real-time), computationally light and efficient enough to allow the robot to navigate in the environment. Because other processes embedded require large amount of cpu-time, our objective was to use efficiently complementary sensors to obtain a fairly accurate localization with minimal computation. To reach this, we used a combination of two sensors: a 2D lidar and a camera, mounted above each other on the robot and oriented toward the same direction. The objective is to pinpoint and cross features in the camera and lidar FOV. Our optimized algorithms are based on segments detection. We decided to observe intersections between vertical lines seen with the camera and locate them in 3D with the ranges provided by the 2D lidar. First we implemented a RGB vertical line detector using RGB gradient and linking process, then a lidar data segmentation with accelerated computation and finally we used this feature detector in a Kalman filter. The final code is evaluated and validated using an advanced real-time robotic simulator and later confirmed with a real experiment.

Seventh International Symposium on Signal Processing and Its Applications, 2003. Proceedings., 2003

Taking into account the constraints of mobile and autonomous robotics, and the tasks devoted to t... more Taking into account the constraints of mobile and autonomous robotics, and the tasks devoted to the vision system embedded on different robots for various applications, we propose a research in matter of fast pixel gathering mechanisms for the connected component extraction and the color region segmentation. In this work, we studied three different mechanisms, and proposed a new method to

Lecture Notes in Computer Science, 2006

Whereas numerous methods are used for vision systems embedded on robots, only a few use colored r... more Whereas numerous methods are used for vision systems embedded on robots, only a few use colored region segmentation mainly because of the processing time. In this paper, we propose a real-time (i.e. video rate) color region segmentation followed by a robust color classification and region merging dedicated to various applications such as RoboCup four-legged league or an industrial conveyor wheeled robot. Performances of this algorithm and confrontation with other existing methods are provided. Thanks to the RNTL. This work is partly supported by the French research office, grant number 01 K 0742, under the name of CLÉOPATRE project.

Applications of Digital Image Processing XXVIII, 2005

Proceedings of the 9th International Conference on Computer Vision Theory and Applications, 2014

A new algorithm to detect straight edge parts which form the contour of an object presented in an... more A new algorithm to detect straight edge parts which form the contour of an object presented in an image is discussed in this paper. This algorithm is very robust and can detect true straight edges even when their pixel's locations are not straight due to natural noise at the object borders. These straight edges are than used to report and classify contour's corners according to their angle and their adjacent segments lengths. A new technique for polygonal approximation is also presented to find the best set among these corners to construct the polygon vertices that best describe the approximating contour. It starts by eliminating the corners, one after the other using Iterative Corner Suppression (ICS) process. This in turn enables us to obtain the smallest possible error in the approximation. Experimental results demonstrate the efficiency of this technique in comparison with recently proposed algorithms.

Advanced Concepts for Intelligent Vision Systems

Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics, 2014

We propose a real time method for moving target detection from a camera embedded on a UAV. As the... more We propose a real time method for moving target detection from a camera embedded on a UAV. As the camera is moving, we must estimate the background motion in order to compensate it and then perform the moving target detection. This compensation is realized by an image registration method. For this, we use an hybrid method using global minimization and feature-based approaches, with a pyramidal implementation. The good results obtained for registration give us the potential moving targets. As some wrong detections still appear, due to noise, occlusions or local change of illuminations, we worked on a robust spatio-temporal tracker able to decide if potential targets are real moving targets or not. The algorithm must reach real time performances for VGA images at 30 fps with a standard PC. We have tested our method on different sequences and show the good results obtained thanks to the high precision in the image registration and the spatio-temporal tracker.

RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication, 2009

In this paper, a real time tracking system by vision is presented. Thanks to it, the interaction ... more In this paper, a real time tracking system by vision is presented. Thanks to it, the interaction between the human and the robot is simplified for example, in the case of the remote control of mobile robot. The operator selects the target to the proposed vision system, pointing out its border. Then, with the visual feedback, he can simply follow

Proceedings 1999 International Conference on Image Processing (Cat. 99CH36348), 1999

The design and optimised (in time and space) implementation of a systolic circuit dedicated to ae... more The design and optimised (in time and space) implementation of a systolic circuit dedicated to aerial image matching is proposed. The final run time data adaptive architecture evaluation with Xilinx XC 4010 XL offers the equivalent processing speed-up of 2000 (compared to a sequential solution)

Proceedings 1st International Conference on Algorithms and Architectures for Parallel Processing, 1995

ABSTRACT