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Andrew Comport

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Publications

Mip-NeRF RGB-D: Depth Assisted Fast Neural Radiance Fields

Arnab Dey , Yassine Ahmine , Andrew I. Comport , Andrew Comport
Journal of WSCG, 2022, 30 (1-2), pp.34-43. ⟨10.24132/JWSCG.2022.5⟩
Journal articles hal-03841243v1

Instance-Aware Multi-Object Self-Supervision for Monocular Depth Prediction

Houssem Eddine Boulahbal , Adrian Voicila , Andrew I. Comport
IEEE Robotics and Automation Letters, 2022, 7 (4), pp.10962-10968. ⟨10.1109/LRA.2022.3194951⟩
Journal articles hal-03841241v1
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Humanoid robots in aircraft manufacturing

Abderrahmane Kheddar , Stéphane Caron , Pierre Gergondet , Andrew Comport , Arnaud Tanguy
IEEE Robotics and Automation Magazine, 2019, 26 (4), pp.30-45. ⟨10.1109/MRA.2019.2943395⟩
Journal articles lirmm-02303117v1
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Point-to-hyperplane ICP: fusing different metric measurements for pose estimation

Fernando I Ireta Munoz , Andrew I. Comport
Advanced Robotics, 2018, 32 (4), pp.161-175. ⟨10.1080/01691864.2018.1434013⟩
Journal articles hal-02061500v1
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Dense omnidirectional RGB-D mapping of large scale outdoor environments for real-time localisation and autonomous navigation

Maxime Meilland , Andrew Ian Comport , Patrick Rives
Journal of Field Robotics, 2015, 32 (4), pp.474-503. ⟨10.1002/rob.21531⟩
Journal articles hal-01010429v1
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Live RGB-D Camera Tracking for Television Production Studios

Tommy Tykkala , Andrew I. Comport , Joni-Kristian Kamarainen , Hannu Hartikainen
Journal of Visual Communication and Image Representation, 2014, 25 (1), pp.207--217. ⟨10.1016/j.jvcir.2013.02.009⟩
Journal articles hal-01357352v1
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Real-time Quadrifocal Visual Odometry

Andrew I. Comport , Ezio Malis , Patrick Rives
The International Journal of Robotics Research, 2010, 29 (2), pp.245-266. ⟨10.1177/0278364909356601⟩
Journal articles hal-00766839v1
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Kinematic sets for real-time robust articulated object tracking

Andrew Comport , E. Marchand , François Chaumette
Image and Vision Computing, 2007, 25 (3), pp.374-391
Journal articles inria-00350642v1
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Statistically robust 2D visual servoing

Andrew Comport , E. Marchand , François Chaumette
IEEE Transactions on Robotics, 2006, 22 (2), pp.415-421
Journal articles inria-00350284v1
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Real-time markerless tracking for augmented reality: the virtual visual servoing framework

Andrew Comport , Eric Marchand , Muriel Pressigout , François Chaumette
IEEE Transactions on Visualization and Computer Graphics, 2006, 12 (4), pp.615-628
Journal articles inria-00161250v1
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Efficient model-based tracking for robot vision.

Andrew Comport , E. Marchand , François Chaumette
Advanced Robotics, 2005, 19 (10), pp.1097-1113
Journal articles inria-00351886v1
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Complex articulated object tracking.

Andrew Comport , E. Marchand , François Chaumette
Electronic Letters on Computer Vision and Image Analysis, 2005, 5 (3), pp.20-30
Journal articles inria-00351887v1
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An Augmented Catenary Model for Underwater Tethered Robots

Martin Filliung , Juliette Drupt , Charly Peraud , Claire Dune , Nicolas Boizot
IEEE International Conference on Robotics and Automation (ICRA 2024), May 2024, Yokohama, Japan
Conference papers hal-04459364v1
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Estimation de forme de câble pesant pour la localisation de robots sous-marins encordés : comparaison d'une approche visuelle à une nouvelle approche inertielle

Juliette Drupt , Claire Dune , Andrew I Comport , Vincent Hugel
ORASIS, Thanh Phuong Nguyen; Laboratoire LIS, May 2023, Carqueiranne, France
Conference papers hal-04108624v1
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Qualitative evaluation of state-of-the-art DSO and ORB-SLAM-based monocular visual SLAM algorithms for underwater applications

Juliette Drupt , Claire Dune , Andrew I. Comport , Vincent Hugel
OCEANS 2023, University of Limerick, Jun 2023, Limerick, France
Conference papers hal-04116537v1

Forecasting of Depth and Ego-Motion with Transformers and Self-supervision

Houssem Eddine Boulahbal , Adrian Voicila , Andrew I. Comport
26TH International Conference on Pattern Recognition, Aug 2022, Montreal, Canada
Conference papers hal-03655106v1
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Forecasting of depth and ego-motion with transformers and self-supervision

Houssem Eddine Boulahbal , Adrian Voicila , Andrew I. Comport
IEEE International Conference on Pattern Recognition, Aug 2022, Montreal, Canada
Conference papers hal-03841239v1
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Inertial-Measurement-Based Catenary Shape Estimation of Underwater Cables for Tethered Robots

Juliette Drupt , Claire Dune , Andrew I. Comport , Sabine Sellier , Vincent Hugel
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2022, Kyoto, Japan
Conference papers hal-03841236v1
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Validity of the catenary model for moving submarine cables with negative buoyancy

Juliette Drupt , Claire Dune , Andrew I. Comport , Vincent Hugel
3rd workshop on RObotic MAnipulation of Deformable Objects: challenges in perception, planning and control for Soft Interaction (ROMADO-SI),, Oct 2022, Kyoto, Japan
Conference papers hal-03841238v1

RGB-D Neural Radiance Fields: Local Sampling for Faster Training

Arnab Dey , Andrew I. Comport
43rd Annual Conference of the European Association for Computer Graphics, Apr 2022, Reims, France
Conference papers hal-03653115v1
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Are conditional GANs explicitly conditional?

Houssem Eddine Boulahbal , Adrian Voicila , Andrew I. Comport
British Machine Vision Conference, Nov 2021, Virtual, United Kingdom
Conference papers hal-03454522v1
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Un apprentissage de bout-en-bout d'adaptateur de domaine avec des réseaux antagonistes génératifs de cycles consistants

Houssem Eddine Boulahbal , Adrian Voicila , Andrew I. Comport
Journée des Jeunes Chercheurs en Robotique, Nov 2020, Visioconference, France
Conference papers hal-03365983v1
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Closed-loop MPC with Dense Visual SLAM - Stability through Reactive Stepping

Arnaud Tanguy , Daniele de Simone , Andrew I. Comport , Giuseppe Oriolo , Abderrahmane Kheddar
ICRA 2019 - 36th IEEE International Conference on Robotics and Automation, May 2019, Montreal, Canada. pp.1397-1403, ⟨10.1109/ICRA.2019.8794006⟩
Conference papers hal-02060786v1
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Real-time RGB-D semantic keyframe SLAM based on image segmentation learning from industrial CAD models

Howard Mahe , Denis Marraud , Andrew I. Comport
International Conference on Advanced Robotics, Dec 2019, Belo Horizonte, Brazil
Conference papers hal-02391499v1
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Online eye-robot self-calibration

Arnaud Tanguy , Abderrahmane Kheddar , Andrew I. Comport
SIMPAR: Simulation, Modeling, and Programming for Autonomous Robots, May 2018, Brisbane, Australia. pp.68-73, ⟨10.1109/SIMPAR.2018.8376273⟩
Conference papers hal-01883715v1
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Semantic-only Visual Odometry based on dense class-level segmentation

Howard Mahe , Denis Marraud , Andrew I. Comport
International Conference on Pattern Recognition (ICPR 2018), Aug 2018, Pékin, China
Conference papers hal-01874544v1
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SLAM visuel actif pour la cartographie en grande gamme dynamique

Christian Barat , Andrew I. Comport
XXVIème Colloque GRETSI, Sep 2017, Juan-les-Pins, France
Conference papers hal-01636402v1
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Active High Dynamic Range Mapping for Dense Visual SLAM

Christian Barat , Andrew I. Comport
IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2017, Vancouver, Canada
Conference papers hal-01635528v1
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Global Point-to-hyperplane ICP: Local and Global Pose Estimation by Fusing Color and Depth

Fernando I Ireta Munoz , Andrew I. Comport
IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, Nov 2017, Daegu, South Korea
Conference papers hal-01636214v1
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Classification dense d'images de profondeur entraînée sans données réelles

Howard Mahe , Denis Marraud , Andrew I. Comport
XXVIème colloque GRETSI, Sep 2017, Juan-les-Pins, France
Conference papers hal-01635500v1
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A Proof that Fusing Measurements Using Point-to-Hyperplane Registration is Invariant to Relative Scale

Fernando I Ireta Munoz , Andrew I Comport
IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, Sep 2016, Baden - Baden, Germany
Conference papers hal-01358130v1
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Point-to-hyperplane RGB-D Pose Estimation: Fusing Photometric and Geometric Measurements

Fernando Israel Ireta Muñoz , Andrew I. Comport
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Oct 2016, Daejeon, South Korea
Conference papers hal-01324294v2
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Closed-loop RGB-D SLAM Multi-Contact Control for humanoid robots

Arnaud Tanguy , Pierre Gergondet , Andrew I. Comport , Abderrahmane Kheddar
IEEE/SICE International Symposium on System Integration, Dec 2016, Sapporo, Japan. pp.51-57, ⟨10.1109/SII.2016.7843974⟩
Conference papers hal-01568048v1
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Combining 3D SLAM and visual tracking to reach and retrieve objects in daily-life indoor environments

Pierre Gergondet , Damien Petit , Maxime Meilland , Abderrahmane Kheddar , Andrew I. Comport
URAI: Ubiquitous Robots and Ambient Intelligence, Nov 2014, Kuala Lumpur, Malaysia. pp.600-604, ⟨10.1109/URAI.2014.7057501⟩
Conference papers lirmm-01247142v1
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Navigation Assistance for a BCI-controlled Humanoid Robot

Damien Petit , Pierre Gergondet , Andrea Cherubini , Maxime Meilland , Andrew I. Comport
CYBER: Conference on Cyber Technology in Automation, Control, and Intelligent Systems, Jun 2014, Hong Kong, China. pp.246-251, ⟨10.1109/CYBER.2014.6917469⟩
Conference papers lirmm-01222966v1
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A unified rolling shutter and motion blur model for 3d visual registration

Maxime Meilland , Tom Drummond , Andrew I. Comport
Proceedings of the IEEE International Conference on Computer Vision, 2013, Sydney, Australia. pp.2016--2023
Conference papers hal-01357360v1
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Photorealistic 3D Mapping of Indoors by RGB-D Scanning Process

Tommy Tykkala , Andrew I. Comport , Joni-Kristian Kamarainen
International Conference on Intelligent Robots and Systems, 2013, Tokyo, Japan
Conference papers hal-01357355v1
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Super-Resolution 3D Tracking and Mapping

Maxime Meilland , Andrew I. Comport
IEEE International Conference on Robotics and Automation (ICRA 2013), May 2013, Karlsruhe, Germany
Conference papers hal-01357363v1
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3D High Dynamic Range Dense Visual SLAM and Its Application to Real-time Object Re-lighting

Maxime Meilland , Christian Barat , Andrew I. Comport
International Symposium on Mixed and Augmented Reality, Oct 2013, Adelaide, Australia. ⟨10.1109/ISMAR.2013.6671774⟩
Conference papers hal-01357357v1
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On Keyframe Positioning for Pose Graphs Applied to Visual SLAM

Andru Putra Twinanda , Maxime Meilland , Désiré Sidibé , Andrew I. Comport
IEEE/RSJ International Conference on Intelligent Robots and Systems, 5th Workshop on Planning, Perception and Navigation for Intelligent Vehicles, Nov 2013, Tokyo, Japan
Conference papers hal-01357358v1
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RGB-D Tracking and Reconstruction for Live TV Broadcast

Tommi Tykkälä , Hannu Hartikainen , Andrew I. Comport , Joni-Kristian Kamarainen
International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, Feb 2013, Barcelona, Spain. ⟨10.5220/0004279602470252⟩
Conference papers hal-01357356v1
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On unifying key-frame and voxel-based dense visual SLAM at large scales

Maxime Meilland , Andrew I. Comport
International Conference on Intelligent Robots and Systems, 2013, Tokyo, Japan. ⟨10.1109/IROS.2013.6696881⟩
Conference papers hal-01357359v1

Modélisation 3D dense temps-réel par approche directe

Patrick Rives , Maxime Meilland , Andrew I. Comport
Atelier "Monument 3D - Numérisation de patrimoine architectural", RFIA2012, Jan 2012, Lyon, France
Conference papers hal-00752920v1
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Dense RGB-D mapping of large scale environments for real-time localisation and autonomous navigation

Maxime Meilland , Patrick Rives , Andrew I. Comport
Intelligent Vehicle (IV'12) Workshop on Navigation, Perception, Accurate Positioning and Mapping for Intelligent Vehicles, Jun 2012, Alcala de Henares, Spain
Conference papers hal-00752897v1
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Real-time Dense Visual Tracking under Large Lighting Variations

Maxime Meilland , Andrew I. Comport , Patrick Rives
British Machine Vision Conference, Aug 2011, Dundee, Scotland, United Kingdom. pp.45.1-45.11, ⟨10.5244/C.25.45⟩
Conference papers hal-02060747v1

A Dense Structure Model for Image Based Stereo SLAM

Tommy Tykkala , Andrew I. Comport
IEEE International Conference on Robotics and Automation, 2011, Shanghai, China
Conference papers hal-01357370v1

An asymmetric real-time dense visual localisation and mapping system

Andrew I. Comport
Invited talk for the 1st IEEE Workshop on Live Dense Reconstruction with Moving Cameras (LDRMC) at 13th International Conference on Computer Vision (ICCV), 2011, Barcelona, Spain
Conference papers hal-01357371v1

Real-time Direct Tracking of Color Images in the Presence of Illumination Variation

Tiago Gonçalves , Andrew I. Comport
IEEE International Conference on Robotics and Automation, 2011, Shanghai, China
Conference papers hal-01357368v1
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Dense visual mapping of large scale environments for real-time localisation

Maxime Meilland , Andrew I. Comport , Patrick Rives
IEEE/RSJ International Conference on Intelligent Robots and System, 2011, San Francisco, California, United States
Conference papers hal-01357369v1
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A Visual Servoing Model for Generalised Cameras: Case study of non-overlapping cameras

A.I. Comport , R. Mahony , F. Spindler
IEEE Int. Conf. on Robotics and Automation, ICRA'11, 2011, Shanghai, China, China. pp.5683-5688
Conference papers hal-00639670v1

Real-time dense RGB-D localisation and mapping

Cedric Audras , Andrew I. Comport , Maxime Meilland , Patrick Rives
Australian Conference on Robotics and Automation, 2011, Monash University, Australia
Conference papers hal-01357372v1

Direct Iterative Closest Point for Real-time Visual Odometry

Tommy Tykkala , Cedric Audras , Andrew I. Comport
The Second international Workshop on Computer Vision in Vehicle Technology: From Earth to Mars in conjunction with the International Conference on Computer Vision, 2011, Barcelona, Spain
Conference papers hal-01357373v1

A Spherical Robot-Centered Representation for Urban Navigation

Maxime Meilland , Andrew I. Comport , Patrick Rives
Journee des Jeunes Chercheurs en Robotique - Journees Nationales du GDR Robotique, 2010, Paris, France
Conference papers hal-01357375v1

A Dense Structure Model for Image Based Stereo SLAM

Tommy Tykkala , Andrew I. Comport
Journee des Jeunes Chercheurs en Robotique - Journees Nationales du GDR Robotique, 2010, Paris, France
Conference papers hal-01357374v1

A Spherical Robot-Centered Representation for Urban Navigation

Maxime Meilland , Andrew I. Comport , Patrick Rives
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2010, Taipei, Taiwan. ⟨10.1109/IROS.2010.5650380⟩
Conference papers hal-01357378v1

Appearance-Based SLAM Relying on a Hybrid Laser/Omnidirectional Sensor

Gabriela Gallegos , Maxime Meilland , Andrew I. Comport , Patrick Rives
IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2010, Taipei, Taiwan. ⟨10.1109/IROS.2010.5651271⟩
Conference papers hal-01357377v1

Accurate and Robust 3D Visual Odometry

Andrew I. Comport
IEEE International Conference on Computer Vision and Pattern Recognition invited guest speaker for the workshop "Visual Localization for Mobile Platforms", 2008, Anchorage, Alaska, Unknown Region
Conference papers hal-01357381v1

Suivi quadrifocal précis pour l`odométrie visuelle 3D

Andrew I. Comport , Ezio Malis , Patrick Rives
16e congrès francophone AFRIF-AFIA Reconnaissance des Formes et Intelligence Artificielle, 2008, Amiens, France
Conference papers hal-01357379v1

Multi-camera and Model-based Robot Vision

Andrew I. Comport , Adrien Bartoli
IEEE International Conference on Intelligent RObots and Systems organiser for the tutorial "Vision for Robotics", 2008, Nice, France
Conference papers hal-01357380v1

Accurate Quadri-focal Tracking for Robust 3D Visual Odometry

Andrew I. Comport , Ezio Malis , Patrick Rives
IEEE International Conference on Robotics and Automation, Apr 2007, Rome, Italy
Conference papers hal-01357382v1

Robust Real-Time Visual Tracking: Comparison and Performance Evaluation

Andrew I. Comport , Danica Kragik , Eric Marchand , François Chaumette
IEEE International Conference on Robotics and Automation, 2005, Barcelona, Spain
Conference papers hal-01357383v1
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Robust real-time visual tracking: Comparison, theoretical analysis and performance evaluation

Andrew Comport , D. Kragic , E. Marchand , François Chaumette
IEEE Int. Conf. on Robotics and Automation, ICRA'05, 2005, Barcelona, Spain, France. pp.2852-2857
Conference papers inria-00351885v1

Une loi de commande par asservissement visuel robuste aux mesures abérrantes

Andrew I. Comport , M. Pressigout , Eric Marchand , François Chaumette
14éme Congrés Francophone AFRIF-AFIA de Reconnaissance des Formes et Intelligence Artificielle, 2004, Toulouse, France
Conference papers hal-01357385v1
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Robust model-based tracking for robot vision

Andrew Comport , E. Marchand , François Chaumette
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'04, 2004, Sendai, Japan. pp.692--697
Conference papers inria-00352025v1
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Complex articulated object tracking

Andrew Comport , E. Marchand , François Chaumette
Int. Workshop on Articulated Motion and Deformable Objects, AMDO'04, 2004, Palma de Mallorca, Spain, Spain. pp.189-201
Conference papers inria-00352024v1
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Visual servoing with respect to complex objects

Andrew Comport , O. Tahri , E. Marchand , François Chaumette
Int. Symp. on Robotics, ISR'04, 2004, Paris, France, France
Conference papers inria-00352022v1
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Object-based visual 3D tracking of articulated objects via kinematic sets

Andrew Comport , E. Marchand , François Chaumette
IEEE Workshop on Articulated and Non-Rigid Motion, 2004, Washington DC, France
Conference papers inria-00352023v1
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Improvements in robust 2D visual servoing

E. Marchand , Andrew Comport , François Chaumette
IEEE Int. Conf. on Robotics and Automation, ICRA'04, 2004, New Orleans, Louisiana, France. pp.745-750
Conference papers inria-00352029v1
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A visual servoing control law that is robust to image outliers

Andrew Comport , Muriel Pressigout , E. Marchand , François Chaumette
IEEE Int. Conf. on Intelligent Robots and Systems, IROS'03, 2003, Las Vegas, Nevada, France. pp.492-497
Conference papers inria-00352074v1

Suivi générique et temps-reel d'objets 3D par asservissement visuel virtuel

Andrew I. Comport , Eric Marchand , François Chaumette
Congrès Francophone de Vision par Ordinateur, 2003, Gerardmer, France
Conference papers hal-01357386v1
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A real-time tracker for markerless augmented reality

Andrew Comport , E. Marchand , François Chaumette
ACM/IEEE Int. Symp. on Mixed and Augmented Reality, ISMAR'03, 2003, Tokyo, Japan, Japan. pp.36-45
Conference papers inria-00352076v1
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Direct matching for improving image-based registration

Fernando Israel Ireta Muñoz , Andrew I. Comport
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Late Breaking Results, Sep 2015, Hamburg, Germany
Conference poster hal-02061947v1

D6DVO version 1.0

Andrew I. Comport , Maxime Meilland
France, Patent n° : IDDN.FR.001.440009.000.S.C.2014.000.2100. 2013
Patents hal-01358430v1

D6DSLAM version 1.0

Andrew I. Comport , Maxime Meilland
France, Patent n° : IDDN.FR.001.460008.000.S.C.2013.000.21000. 2013
Patents hal-01358429v1

Rolling shutter - Procédé d'estimation de la vitesse de déplacement d'une caméra

Andrew I. Comport , Maxime Meilland
France, N° de brevet: 1361305. 2013
Patents hal-01357354v1

Motion blur - Procédé d'estimation de la vitesse de déplacement d'une caméra

Andrew I. Comport , Maxime Meilland
France, N° de brevet: 1361306. 2013
Patents hal-01357353v1

DESLAM version 1.0

Maxime Meilland , Andrew I. Comport , Patrick Rives
France, Patent n° : IDDN FR.001.320001.000.S.P.2012.000.21000. 2012
Patents hal-01358431v1

Markerless : Markerless-based Augmented Reality Kernel

Andrew I. Comport , Eric Marchand , François Chaumette
France, Patent n° : IDDN FR.001.XXXXXX.000.S.P.2003.000.XXXXX. 2003
Patents hal-01358432v1