Andrew Comport
Publications
Publications
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T-CoLoc: Leveraging Tethers for Reliable Co-Localization within an Underwater ROV ChainICRA 2026 - IEEE International Conference on Robotics & Automation, Jun 2026, Vienne, Austria |
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Liquid Dino: A Multi-Task Neural Network towards Autonomous DrivingIEEE 10th International Conference on Machine Learning Technologies (ICMLT), May 2025, Helsinki, Finland. pp.195-202 |
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Bringing NeRFs to the Latent Space: Inverse Graphics AutoencoderInternational Conference on Learning Representations (ICLR'25), Apr 2025, Singapore, Singapore. pp.1-28 |
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Integration of Large Vision Models in Driver Monitoring Systems: Compressing and Distilling for Real-Time Automotive Applications38th Annual Conference on Neural Information Processing Systems (NeurIPS) - Workshop on Machine Learning and Compression, Dec 2024, Vancouver, Canada. ⟨10.1145/3674029.3674062⟩ |
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GHNeRF : Learning Generalizable Human Features with Efficient Neural Radiance FieldsCVPR 2024 - IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, Jun 2024, Seattle, United States. pp.2812-2821, ⟨10.1109/CVPRW63382.2024.00287⟩ |
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Exploring 3D-aware Latent Spaces for Efficiently Learning Numerous ScenesLearning 3D with Multi-View Supervision workshop (3DMV) - Computer Vision and Pattern Recognition Conference (CVPR), Jun 2024, Seattle, United States. ⟨10.48550/arXiv.2403.11678⟩ |
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Minimizing Parameters, Maximizing Safety: A Deep Learning Approach to Real-Time Distracted Driver IdentificationSIA Vision, Oct 2024, Paris, France |
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DiVa-360: The Dynamic Visual Dataset for Immersive Neural FieldsConference on Computer Vision and Pattern Recognition (Highlight), IEEE/CVF, Jun 2024, Seattle, United States. pp.22466-22476 |
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An Augmented Catenary Model for Underwater Tethered RobotsIEEE International Conference on Robotics and Automation (ICRA 2024), May 2024, Yokohama, Japan. pp.6051 - 6057, ⟨10.1109/ICRA57147.2024.10611132⟩ |
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Using Artificial Intelligence to Improve the Performance of Radiative Hydrodynamics SimulationsProceedings of the annual meeting of the French Society of Astronomy and Astrophysics, Société Française d’Astronomie et d’Astrophysique, Jun 2023, Strasbourg, France. pp.467-468 |
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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 inertielleORASIS, Thanh Phuong Nguyen; Laboratoire LIS, May 2023, Carqueiranne, France |
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Qualitative evaluation of state-of-the-art DSO and ORB-SLAM-based monocular visual SLAM algorithms for underwater applicationsOCEANS 2023, University of Limerick, Jun 2023, Limerick, France |
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Inertial-Measurement-Based Catenary Shape Estimation of Underwater Cables for Tethered RobotsIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2022, Kyoto, Japan |
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Forecasting of depth and ego-motion with transformers and self-supervisionIEEE International Conference on Pattern Recognition, Aug 2022, Montreal, Canada |
Forecasting of Depth and Ego-Motion with Transformers and Self-supervision26TH International Conference on Pattern Recognition, Aug 2022, Montreal, Canada |
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Validity of the catenary model for moving submarine cables with negative buoyancy3rd workshop on RObotic MAnipulation of Deformable Objects: challenges in perception, planning and control for Soft Interaction (ROMADO-SI),, Oct 2022, Kyoto, Japan |
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RGB-D Neural Radiance Fields: Local Sampling for Faster Training43rd Annual Conference of the European Association for Computer Graphics, Apr 2022, Reims, France |
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Are conditional GANs explicitly conditional?British Machine Vision Conference, Nov 2021, Virtual, United Kingdom |
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Un apprentissage de bout-en-bout d'adaptateur de domaine avec des réseaux antagonistes génératifs de cycles consistantsJournée des Jeunes Chercheurs en Robotique, Nov 2020, Visioconference, France |
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Closed-loop MPC with Dense Visual SLAM - Stability through Reactive SteppingICRA 2019 - 36th IEEE International Conference on Robotics and Automation, May 2019, Montreal, Canada. pp.1397-1403, ⟨10.1109/ICRA.2019.8794006⟩ |
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Real-time RGB-D semantic keyframe SLAM based on image segmentation learning from industrial CAD modelsInternational Conference on Advanced Robotics, Dec 2019, Belo Horizonte, Brazil |
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Semantic-only Visual Odometry based on dense class-level segmentationInternational Conference on Pattern Recognition (ICPR 2018), Aug 2018, Pékin, China |
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Online eye-robot self-calibrationSIMPAR: Simulation, Modeling, and Programming for Autonomous Robots, May 2018, Brisbane, Australia. pp.68-73, ⟨10.1109/SIMPAR.2018.8376273⟩ |
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SLAM visuel actif pour la cartographie en grande gamme dynamiqueXXVIème Colloque GRETSI, Sep 2017, Juan-les-Pins, France |
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Active High Dynamic Range Mapping for Dense Visual SLAMIEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2017, Vancouver, Canada |
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Global Point-to-hyperplane ICP: Local and Global Pose Estimation by Fusing Color and DepthIEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, Nov 2017, Daegu, South Korea |
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Classification dense d'images de profondeur entraînée sans données réellesXXVIème colloque GRETSI, Sep 2017, Juan-les-Pins, France |
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Closed-loop RGB-D SLAM Multi-Contact Control for humanoid robotsIEEE/SICE International Symposium on System Integration, Dec 2016, Sapporo, Japan. pp.51-57, ⟨10.1109/SII.2016.7843974⟩ |
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Point-to-hyperplane RGB-D Pose Estimation: Fusing Photometric and Geometric MeasurementsIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Oct 2016, Daejeon, South Korea |
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A Proof that Fusing Measurements Using Point-to-Hyperplane Registration is Invariant to Relative ScaleIEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, Sep 2016, Baden - Baden, Germany |
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Navigation Assistance for a BCI-controlled Humanoid RobotCYBER 2014 - 4th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, Jun 2014, Hong Kong, China. pp.246-251, ⟨10.1109/CYBER.2014.6917469⟩ |
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Combining 3D SLAM and visual tracking to reach and retrieve objects in daily-life indoor environmentsURAI: Ubiquitous Robots and Ambient Intelligence, Nov 2014, Kuala Lumpur, Malaysia. pp.600-604, ⟨10.1109/URAI.2014.7057501⟩ |
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RGB-D Tracking and Reconstruction for Live TV BroadcastInternational Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, Feb 2013, Barcelona, Spain. ⟨10.5220/0004279602470252⟩ |
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On Keyframe Positioning for Pose Graphs Applied to Visual SLAMIEEE/RSJ International Conference on Intelligent Robots and Systems, 5th Workshop on Planning, Perception and Navigation for Intelligent Vehicles, Nov 2013, Tokyo, Japan |
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Photorealistic 3D Mapping of Indoors by RGB-D Scanning ProcessInternational Conference on Intelligent Robots and Systems, 2013, Tokyo, Japan |
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3D High Dynamic Range Dense Visual SLAM and Its Application to Real-time Object Re-lightingInternational Symposium on Mixed and Augmented Reality, Oct 2013, Adelaide, Australia. ⟨10.1109/ISMAR.2013.6671774⟩ |
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A unified rolling shutter and motion blur model for 3d visual registrationProceedings of the IEEE International Conference on Computer Vision, 2013, Sydney, Australia. pp.2016--2023 |
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Super-Resolution 3D Tracking and MappingIEEE International Conference on Robotics and Automation (ICRA 2013), May 2013, Karlsruhe, Germany |
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On unifying key-frame and voxel-based dense visual SLAM at large scalesInternational Conference on Intelligent Robots and Systems, 2013, Tokyo, Japan. ⟨10.1109/IROS.2013.6696881⟩ |
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Dense RGB-D mapping of large scale environments for real-time localisation and autonomous navigationIntelligent Vehicle (IV'12) Workshop on Navigation, Perception, Accurate Positioning and Mapping for Intelligent Vehicles, Jun 2012, Alcala de Henares, Spain |
Modélisation 3D dense temps-réel par approche directeAtelier "Monument 3D - Numérisation de patrimoine architectural", RFIA2012, Jan 2012, Lyon, France |
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Real-time dense RGB-D localisation and mappingAustralian Conference on Robotics and Automation, 2011, Monash University, Australia |
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A Visual Servoing Model for Generalised Cameras: Case study of non-overlapping camerasIEEE Int. Conf. on Robotics and Automation, ICRA'11, 2011, Shanghai, China, China. pp.5683-5688 |
An asymmetric real-time dense visual localisation and mapping systemInvited 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 |
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A Dense Structure Model for Image Based Stereo SLAMIEEE International Conference on Robotics and Automation, 2011, Shanghai, China |
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Dense visual mapping of large scale environments for real-time localisationIEEE/RSJ International Conference on Intelligent Robots and System, 2011, San Francisco, California, United States |
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Real-time Dense Visual Tracking under Large Lighting VariationsBritish Machine Vision Conference, Aug 2011, Dundee, Scotland, United Kingdom. pp.45.1-45.11, ⟨10.5244/C.25.45⟩ |
Real-time Direct Tracking of Color Images in the Presence of Illumination VariationIEEE International Conference on Robotics and Automation, 2011, Shanghai, China |
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Direct Iterative Closest Point for Real-time Visual OdometryThe 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 |
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A Spherical Robot-Centered Representation for Urban NavigationJournee des Jeunes Chercheurs en Robotique - Journees Nationales du GDR Robotique, 2010, Paris, France |
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A Dense Structure Model for Image Based Stereo SLAMJournee des Jeunes Chercheurs en Robotique - Journees Nationales du GDR Robotique, 2010, Paris, France |
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A Spherical Robot-Centered Representation for Urban NavigationIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2010, Taipei, Taiwan. ⟨10.1109/IROS.2010.5650380⟩ |
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Appearance-Based SLAM Relying on a Hybrid Laser/Omnidirectional SensorIEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2010, Taipei, Taiwan. ⟨10.1109/IROS.2010.5651271⟩ |
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Accurate and Robust 3D Visual OdometryIEEE International Conference on Computer Vision and Pattern Recognition invited guest speaker for the workshop "Visual Localization for Mobile Platforms", 2008, Anchorage, Alaska, Unknown Region |
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Suivi quadrifocal précis pour l`odométrie visuelle 3D16e congrès francophone AFRIF-AFIA Reconnaissance des Formes et Intelligence Artificielle, 2008, Amiens, France |
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Multi-camera and Model-based Robot VisionIEEE International Conference on Intelligent RObots and Systems organiser for the tutorial "Vision for Robotics", 2008, Nice, France |
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Accurate Quadri-focal Tracking for Robust 3D Visual OdometryIEEE International Conference on Robotics and Automation, Apr 2007, Rome, Italy |
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Robust real-time visual tracking: Comparison, theoretical analysis and performance evaluationIEEE Int. Conf. on Robotics and Automation, ICRA'05, 2005, Barcelona, Spain, France. pp.2852-2857 |
Robust Real-Time Visual Tracking: Comparison and Performance EvaluationIEEE International Conference on Robotics and Automation, 2005, Barcelona, Spain |
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Robust model-based tracking for robot visionIEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'04, 2004, Sendai, Japan. pp.692--697 |
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Visual servoing with respect to complex objectsInt. Symp. on Robotics, ISR'04, 2004, Paris, France, France |
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Object-based visual 3D tracking of articulated objects via kinematic setsIEEE Workshop on Articulated and Non-Rigid Motion, 2004, Washington DC, France |
Une loi de commande par asservissement visuel robuste aux mesures abérrantes14éme Congrés Francophone AFRIF-AFIA de Reconnaissance des Formes et Intelligence Artificielle, 2004, Toulouse, France |
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Complex articulated object trackingInt. Workshop on Articulated Motion and Deformable Objects, AMDO'04, 2004, Palma de Mallorca, Spain, Spain. pp.189-201 |
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Improvements in robust 2D visual servoingIEEE Int. Conf. on Robotics and Automation, ICRA'04, 2004, New Orleans, Louisiana, France. pp.745-750 |
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A visual servoing control law that is robust to image outliersIEEE Int. Conf. on Intelligent Robots and Systems, IROS'03, 2003, Las Vegas, Nevada, France. pp.492-497 |
Suivi générique et temps-reel d'objets 3D par asservissement visuel virtuelCongrès Francophone de Vision par Ordinateur, 2003, Gerardmer, France |
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A real-time tracker for markerless augmented realityACM/IEEE Int. Symp. on Mixed and Augmented Reality, ISMAR'03, 2003, Tokyo, Japan, Japan. pp.36-45 |
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Using artificial intelligence to improve the performance of radiative hydronamics simulationsGeophysical & Astrophysical Fluid Dynamics: Experiments and Models (GAFDEM), Sep 2023, Nice, France. Geophysical & Astrophysical Fluid Dynamics: Experiments and Models (GAFDEM) |
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Direct matching for improving image-based registrationIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Late Breaking Results, Sep 2015, Hamburg, Germany |
Motion blur - Procédé d'estimation de la vitesse de déplacement d'une caméraFrance, N° de brevet: 1361306. 2013 |
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D6DSLAM version 1.0France, Patent n° : IDDN.FR.001.460008.000.S.C.2013.000.21000. 2013 |
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D6DVO version 1.0France, Patent n° : IDDN.FR.001.440009.000.S.C.2014.000.2100. 2013 |
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Rolling shutter - Procédé d'estimation de la vitesse de déplacement d'une caméraFrance, N° de brevet: 1361305. 2013 |
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DESLAM version 1.0France, Patent n° : IDDN FR.001.320001.000.S.P.2012.000.21000. 2012 |
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Markerless : Markerless-based Augmented Reality KernelFrance, Patent n° : IDDN FR.001.XXXXXX.000.S.P.2003.000.XXXXX. 2003 |
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Fused-Planes: Why Train a Thousand Tri-Planes When You Can Share?2026 |
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STDepthFormer: Predicting Spatio-temporal Depth from Video with a Self-supervised Transformer Model2023 |
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PNeRF: Probabilistic Neural Scene Representations for Uncertain 3D Visual Mapping2022 |
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Closed-loop MPC with Dense Visual SLAM-Stability through Reactive Stepping2018 |
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Simultaneous super-resolution, tracking and mapping[Research Report] CNRS-I3S/UNS. 2012 |
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Robust and real-time image-based tracking for markerless augmented reality[Research Report] RR-4847, INRIA. 2003 |
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Towards a computer imagination: Robust real-time 3D tracking of rigid and articulated objects for augmented reality and roboticsComputer Vision and Pattern Recognition [cs.CV]. Université de Rennes I, 2005. English. ⟨NNT : ⟩ |
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Visual SLAM: The Direct ApproachComputer Science [cs]. Université Côte D'Azur, 2022 |