Research

My research interest is mainly focused on visual navigation for robotic application. I use bio-inspired method to solve robotic tasks such as stabilization, pursuit and obstacle avoidance.

Event-based visual sensor

A nice description of how the sensor works can be found here

• A relatively simple event to 3D point matching was used as input measurement of an EKF to perform sensor pose estimation. The algorithm was also adapted for multiple sensors and with mapping it shows good accuracy on the tested environment.
  

• The Davis240C sensor was used to compute Optic Flow and perform obstacle avoidance with a quadrotor.
  

Insect inspired vision and application

The following research was made during my PhD in the Biorobotics team in Marseille. My thesis can be downloaded here: Link to thesis .

• Using an Artificial compound eye submitted to periodic micro-movements displays hyperacuity, i.e. locating features with a greater accuracy than that corresponding to the resolution imposed by the photoreceptor’s limited pitch. Application of this principal over a large field of view allowed a robot to stabilized is position or follow a target.
  

  • Robotic visual stabilization and short-range odometry

  • Robotic visual pursuit under different light conditions

    
    which mimics the behavior of hoverfly trajectories




• Collaboration on the robot LORA, which aims at replicating bees navigation into a large corridor. The different behaviors such as centering, wall-following and speed regulation in a tappered corridor were reproduced using Optic Flow measurements.