Ezio Malis
- Intelligence artificielle et algorithmes efficaces pour la robotique autonome (ACENTAURI)
Présentation
Ezio Malis graduated both from SUPELEC and Politecnico di Milano in 1995. He received the Ph.D. degree in Robotics and Automation from the University of Rennes, France, in 1998. After spending two years (1999–2000) as a Research Associate at the University of Cambridge (UK), he joined INRIA as a Research Scientist in Sophia Antipolis. He received in 2008 the Habilitation à Diriger des Recherches in Computer Science from the University of Nice-Sophia Antipolis. After 9 years in the ICARE and AROBAS teams, he created the team EVOLUTION at Inria Sophia Antipolis in 2009. From 2009 til 2010 he led the EVOLUTION team to achieve technological maturity and to transfer his research work to the industry. In 2010 he co-founded the Robocortex S.A.S. company a software editor for Autonomous Robotics and of the software AugmentedPro for Augmented Reality and IoT in industrial assembling and manufacturing tasks. From 2010 til 2020 he was the CEO and the director of the Research and Developpement at Robocortex. Form 2021 he is the leader of the ACENTAURI team at Centre Inria de Côte d'Azur.
Publications
Publications
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Learning-Based Fusion for Robust Multi-Spectral Visual ServoingICRA 2026 - IEEE International Conference on Robotics and Automation, Jun 2026, Vienne, Austria |
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Focus on Relevant Road Users with Multi-Rules Reachable SetsIEEE IV 2026 - IEEE Intelligent Vehicles Symposium, Jun 2026, Detroit, United States |
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PhraseStereo: The First Open-Vocabulary Stereo Image Segmentation DatasetInternational Conference on Computer Vision, ICCV 2025, Oct 2025, Honolulu, United States |
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Mixed Signals: A Diverse Point Cloud Dataset for Heterogeneous LiDAR V2X CollaborationICCV 2025 - International Conference on Computer Vision, Nov 2025, Honolulu (Hawaii), USA, United States |
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Change Detection and Model Update from Limited Query Data for Accurate Robot LocalizationICAR 2025 - 22nd International Conference on Advanced Robotics, Dec 2025, San Juan, Argentina |
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Multi-Rules Reachability Analysis for Road Agents Using Graph-Based Maps and Real-Time KinematicsIV 2025 - IEEE Intelligent Vehicles Symposium, Jun 2025, Cluj - Napoca, Romania. pp.119-124, ⟨10.1109/IV64158.2025.11097553⟩ |
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A Novel Strategy for Connectivity Maintenance and Recovery in Heterogeneous Multi-Robot SystemsIROS 2025 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2025, Hang Zhou, China, China |
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A Novel Framework For Robust Collaborative Perception Against Adversarial AgentsIV 2025 - IEEE Intelligent vehicles symposium, 2025, Cluj-Napoca, Romania |
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Impact of Heterogeneous UWB Sensor Noise on the Optimality and Sensitivity of Mobile Positioning SystemsIROS 2025 - IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Oct 2025, Hangzhou, China. pp.982-989, ⟨10.1109/IROS60139.2025.11247384⟩ |
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Hybrid Visual SLAM for Multi-session Precise Localization: Application to a Coastal Cliff in NormandyICAS 2025 - International Conference on Autonomic and Autonomous Systems, Mar 2025, Lisbone, Portugal |
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Improving Vulnerable Road-Users Detection through Hybrid Collaborative Perception and Detection Refinement28th IEEE International Conference on Intelligent Transportation Systems (ITSC 2025), Nov 2025, Gold coast, Australia |
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BALO: A novel point-to-plane BAlanced Lidar OdometryIV 2025 - IEEE Intelligent Vehicles Symposium, Jun 2025, Cluj-Napoca, Romania |
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One-stage deep stereo networkICASSP 2024 - IEEE International Conference on Acoustics, Speech and Signal Processing, Apr 2024, Seoul (Korea), South Korea |
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Label-Efficient 3D Object Detection For Road-Side UnitsIV 2024 - IEEE Intelligent Vehicles Symposium, Jun 2024, Jeju Island (South Korea), South Korea |
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Towards autonomous robotic structure inspection with dense-direct visual-SLAMEUSIPCO 2024 - 32th European signal processing conference, Aug 2024, Lyon, France |
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Balanced ICP for precise lidar odometry from non bilateral correspondencesIV 2024 - IEEE Intelligent Vehicles Symposium, Jun 2024, Jeju Island, South Korea. ⟨10.1109/IV55156.2024.10588814⟩ |
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Robustness Study of Optimal Geometries for Cooperative Multi-Robot LocalizationIROS 2024 - IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Oct 2024, Abou Dabi, United Arab Emirates |
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Multi-Spectral Visual ServoingIROS 2024 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2024, Abu Dhabi, United Arab Emirates |
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Change Detection and Model Update Framework for Accurate Long-Term LocalizationIROS 2024: Standing the Test of Time Workshop - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2024, Abu Dhabi, United Arab Emirates |
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Multi-masks Generation for Increasing Robustness of Dense Direct MethodsITSC 2023 - 26th IEEE International Conference on Intelligent Transportation Systems, IEEE-ITSS, Sep 2023, Bilbao, Spain |
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Towards autonomous robot navigation in human populated environments using an Universal SFM and parametrized MPCIROS 2023 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2023, Detroit (MI), United States |
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A New Dense Hybrid Stereo Visual Odometry ApproachIROS 2022 - 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2022, KYOTO, Japan. pp.6998-7003, ⟨10.1109/IROS47612.2022.9981814⟩ |
Direct approach to the self-calibration of omnidirectional cameras2009 IEEE 12th International Conference on Computer Vision Workshops, ICCV Workshops, Sep 2009, Kyoto, France. pp.2149-2155, ⟨10.1109/ICCVW.2009.5457546⟩ |
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Visual tracking of planes with an uncalibrated central catadioptric camera2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), Oct 2009, St. Louis, France. pp.2999-3004, ⟨10.1109/IROS.2009.5354470⟩ |
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Dynamic estimation of homography transformations on the special linear group for visual servo control2009 IEEE International Conference on Robotics and Automation (ICRA 2009), May 2009, Kobe, Japan. pp.1498-1503, ⟨10.1109/ROBOT.2009.5152384⟩ |
Visual servoing from robust direct color image registration2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), Oct 2009, St. Louis, France. pp.5450-5455, ⟨10.1109/IROS.2009.5354423⟩ |
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REAL-TIME OBJECT DETECTION AND TRACKING FOR INDUSTRIAL APPLICATIONSInternational Conference on Computer Vision Theory and Applications, Jan 2008, Funchal, Portugal. pp.337-345, ⟨10.5220/0001074903370345⟩ |
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Spherical Image Processing for Accurate Visual Odometry with Omnidirectional CamerasThe 8th Workshop on Omnidirectional Vision, Camera Networks and Non-classical Cameras - OMNIVIS, Rahul Swaminathan and Vincenzo Caglioti and Antonis Argyros, Oct 2008, Marseille, France |
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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Direct visual servoing with respect to rigid objects2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2007, San Diego, United States. pp.1963-1968, ⟨10.1109/IROS.2007.4399487⟩ |
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3D Reconstruction of Natural Underwater Scenes Using the Stereovision System IRISOCEANS 2007 - Europe, Jun 2007, Aberdeen, United Kingdom. pp.1-6, ⟨10.1109/OCEANSE.2007.4302315⟩ |
Accurate Quadri-focal Tracking for Robust 3D Visual OdometryIEEE International Conference on Robotics and Automation, Apr 2007, Rome, Italy |
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Accurate Quadrifocal Tracking for Robust 3D Visual Odometry2007 IEEE International Conference on Robotics and Automation, Apr 2007, Rome, Italy. pp.40-45, ⟨10.1109/ROBOT.2007.363762⟩ |
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An efficient unified approach to direct visual tracking of rigid and deformable surfaces2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2007, San Diego, United States. pp.2729-2734, ⟨10.1109/IROS.2007.4398990⟩ |
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Insight Into Efficient Image Registration Techniques and the Demons AlgorithmInformation Processing in Medical Imaging, Jul 2007, Kerkrade, Netherlands. pp.495-506, ⟨10.1007/978-3-540-73273-0_41⟩ |
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An Efficient Direct Method for Improving visual SLAM2007 IEEE International Conference on Robotics and Automation, Apr 2007, Rome, Italy. pp.4090-4095, ⟨10.1109/ROBOT.2007.364107⟩ |
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Real-time Visual Tracking under Arbitrary Illumination Changes2007 IEEE Conference on Computer Vision and Pattern Recognition, Jun 2007, Minneapolis, United States. pp.1-6, ⟨10.1109/CVPR.2007.382993⟩ |
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Homography-based Tracking for Central Catadioptric Cameras2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2006, Beijing, China. pp.669-674, ⟨10.1109/IROS.2006.282553⟩ |
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A new approach to vision-based robot control with omni-directional cameras2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., May 2006, Orlando, United States. pp.526-531, ⟨10.1109/ROBOT.2006.1641764⟩ |
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Constrained Multiple Planar Template Tracking for Central Catadioptric CamerasBritish Machine Vision Conference 2006, Sep 2006, Edinburgh, United Kingdom. pp.64.1-64.10, ⟨10.5244/C.20.64⟩ |
3D Heart Motion Estimation Using Endoscopic Monocular Vision SystemMCBMS 2006 - 6th IFAC Symposium on Modeling and Control in Biomedical Systems, Sep 2006, Reims, France. pp.141-146 |
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Integration of Euclidean constraints in template based visual tracking of piecewise-planar scenes2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2006, Beijing, China. pp.1218-1223, ⟨10.1109/IROS.2006.281859⟩ |
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Experiments with robust estimation techniques in real-time robot visionIEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'06, 2006, Beijing, China. pp.223-228 |
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Active Stereovision Using Invariant Visual Servoing2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2006, Beijing, France. pp.2326-2331, ⟨10.1109/IROS.2006.282640⟩ |
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Visual servoing over unknown, unstructured, large-scale scenes2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., Jun 2006, Orlando, United States. pp.4142-4147, ⟨10.1109/ROBOT.2006.1642339⟩ |
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Fast central catadioptric line extraction, estimation, tracking and structure from motion2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2006, Beijing, China. pp.4774-4779, ⟨10.1109/IROS.2006.282348⟩ |
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Real-time Robust Detection of Planar Regions in a Pair of Images2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2006, Beijing, China. pp.49-54, ⟨10.1109/IROS.2006.282189⟩ |
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Homography-based 2D visual servoing2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., May 2006, Orlando, France. pp.2397-2402, ⟨10.1109/ROBOT.2006.1642061⟩ |
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Vision-based Control for Car Platooning using Homography Decomposition *2005 IEEE International Conference on Robotics and Automation, Apr 2005, Barcelona, Spain. pp.2161-2166, ⟨10.1109/ROBOT.2005.1570433⟩ |
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Visual servoing based on an analytical homography decomposition44th IEEE Conference on Decision and Control, Dec 2005, Seville, France. pp.5379-5384, ⟨10.1109/CDC.2005.1583017⟩ |
Parameters Selection and Stability Analysis of Invariant Visual Servoing with Weighted Features2005 IEEE International Conference on Robotics and Automation, Apr 2005, Barcelona, Spain. pp.3492-3497, ⟨10.1109/ROBOT.2005.1570650⟩ |
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Méthodes robustes d'estimation pour la vision robotiqueJournées nationales de la recherche en robotique, JNRR'05, 2005, Guidel, France, France |
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Real-time image-based tracking of planes using efficient second-order minimization2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), Sep 2004, Sendai, Japan. pp.943-948, ⟨10.1109/IROS.2004.1389474⟩ |
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Improving vision-based control using efficient second-order minimization techniquesIEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, Apr 2004, New Orleans, France. pp.1843-1848 Vol.2, ⟨10.1109/ROBOT.2004.1308092⟩ |
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Euclidean Reconstruction Independent on Camera Intrinsic Parameters2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004, Sendai, Japan. pp.2313-2318 |
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Self-calibration of the distortion of a zooming camera by matching points at different resolutions2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), Sep 2004, Sendai, Japan. pp.2307-2312, ⟨10.1109/IROS.2004.1389753⟩ |
Robustness of central catadioptric image-based visual servoing to uncertainties on 3D parameters2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), Sep 2004, Sendai, Japan. pp.1389-1394, ⟨10.1109/IROS.2004.1389590⟩ |
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Preserving the continuity of visual servoing despite changing image features2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), Sep 2004, Sendai, Japan. pp.1383-1388, ⟨10.1109/IROS.2004.1389589⟩ |
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Visual Servoing Techniques for Continuous Navigation of a Mobile RobotFirst International Conference on Informatics in Control, Automation and Robotics, Aug 2004, Setúbal, Portugal. pp.343-348, ⟨10.5220/0001134903430348⟩ |
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Uncalibrated active affine reconstruction closing the loop by visual servoing2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453), Oct 2003, Las Vegas, United States. pp.498-503, ⟨10.1109/IROS.2003.1250678⟩ |
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Robustness of image-based visual servoing with respect to depth distribution errorsIEEE International Conference on Robotics and Automation. IEEE ICRA 2003, Sep 2003, Taipei, Taiwan. pp.1056-1061, ⟨10.1109/ROBOT.2003.1241732⟩ |
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Vision-based control with respect to planar and non-planar objects using a zooming cameraInternational Conference on Advanced Robotics, Jun 2003, Coimbra, Portugal |
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Survey of vision-based robot controlEuropean Naval Ship Design, Captain Computer IV Forum, 2002, Brest (FR), France |
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Intrinsics-free visual servoing with respect to straight linesIROS 2002: IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2002, Lausanne, Switzerland. pp.384-389, ⟨10.1109/IRDS.2002.1041419⟩ |
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Robust features tracking for robotic applications: towards 2 1/2 D visual servoing with natural images2002 IEEE International Conference on Robotics and Automation, May 2002, Washington, United States. pp.574-579, ⟨10.1109/ROBOT.2002.1013420⟩ |
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An Unified Approach to Model-Based and Model-Free Visual ServoingEuropean Conference on Computer Vision, May 2002, Copenhagen, Denmark. pp.433-447, ⟨10.1007/3-540-47979-1_29⟩ |
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Vision-based control invariant to camera intrinsic parameters: stability analysis and path tracking2002 IEEE International Conference on Robotics and Automation, May 2002, Washington, United States. pp.217-222, ⟨10.1109/ROBOT.2002.1013364⟩ |
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Hybrid vision-based robot control robust to large calibration errors on both intrinsic and extrinsic camera parameters2001 European Control Conference (ECC), Sep 2001, Porto, Portugal. pp.2898-2903, ⟨10.23919/ECC.2001.7076373⟩ |
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Vision-based control using different cameras for learning the reference image and for servoingRSJ/IEEE International Conference on Intelligent Robots and Systems, Oct 2001, Maui, United States. pp.1428-1433, ⟨10.1109/IROS.2001.977181⟩ |
Visual servoing invariant to changes in camera intrinsic parametersEighth IEEE International Conference on Computer Vision, Jul 2001, Vancouver, Canada. pp.704-709, ⟨10.1109/ICCV.2001.937592⟩ |
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Multi-view Constraints between Collineations: Application to Self-Calibration from Unknown Planar StructuresEuropean Conference on Computer Vision, Jun 2000, Dublin, Ireland. pp.610-624, ⟨10.1007/3-540-45053-X_39⟩ |
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Automatic segmentation and matching of planar contours for visual servoing2000 ICRA. IEEE International Conference on Robotics and Automation, Apr 2000, San Francisco, France. pp.2753-2758, ⟨10.1109/ROBOT.2000.846444⟩ |
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Multi-cameras visual servoingIEEE Int. Conf. on Robotics and Automation, ICRA'00, 2000, San Francisco, California, United States. pp.3183-3188 |
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Self-calibration of zooming cameras observing an unknown planar structure15th International Conference on Pattern Recognition, Sep 2000, Barcelona, France. pp.85-88, ⟨10.1109/ICPR.2000.905281⟩ |
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2 1/2 D visual servoing: a possible solution to improve image-based and position-based visual servoingsIEEE Int. Conf. on Robotics and Automation, ICRA'00, 2000, San Francisco, USA, United States. pp.630-635 |
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Collineation Estimation from Two Unmatched Views of an UnknownPlanar Contour for Visual ServoingBritish Machine Vision Conference 1999, Sep 1999, Nottingham, United Kingdom. pp.23.1-23.10, ⟨10.5244/C.13.23⟩ |
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2D 1/2 visual servoing stability analysis with respect to camera calibration errorsIEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'98, 1998, Victoria, Canada, Canada. pp.691-697 |
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Impedance based combination of visual and force controlIEEE International Conference on Robotics and Automation, May 1998, Leuven, France. pp.1743-1748, ⟨10.1109/ROBOT.1998.677418⟩ |
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Positioning a coarse-calibrated camera with respect to an unknown object by 2D 1/2 visual servoingIEEE Int. Conf. on Robotics and Automation, ICRA'98, 1998, Leuven, Belgium, Belgium. pp.1352-1359 |
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2D 1/2 visual servoing with respect to a planar objectWorkshop on New Trends in Image-based Robot Servoing, IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 1997, Grenoble, France |
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Control of Reduntant Robots at Singularities in Degenerate DirectionsCISM-IFTOMM Symposium on Theory and Practice of Robots and Manipulators, Jul 1996, Udine, Italy. pp.319-326, ⟨10.1007/978-3-7091-2666-0_37⟩ |
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Positioning a Coarse-Calibrated Camera with Respect to an Unknown Planar Object by 2D 1/2 Visual ServoingFAC Symposium on Robot Control (SYROCO), Sep 1997, Nantes, France. pp.497-503, ⟨10.1016/S1474-6670(17)44310-2⟩ |
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Two New Algorithms for Forward and Inverse Kinematics under Degenerate ConditionsWorld Automation Conference, May 1996, Montpellier, France |
Visual Servoing for Beating Heart SurgerySpringer London, 401, pp.91-114, 2010, Lecture Notes in Control and Information Sciences, ⟨10.1007/978-1-84996-089-2_6⟩ |
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Estimation of Homography Dynamics on the Special Linear GroupSpringer London, 401, pp.133-150, 2010, Lecture Notes in Control and Information Sciences, ⟨10.1007/978-1-84996-089-2_8⟩ |
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Stability Analysis of Invariant Visual Servoing and Robustness to Parametric UncertaintiesSpringer Berlin Heidelberg, 4, pp.265-280, 2003, ⟨10.1007/3-540-36224-X_17⟩ |
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Deeper understanding of the homography decomposition for vision-based control[Research Report] RR-6303, INRIA. 2007, pp.90 |
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An efficient unified approach to direct image registration of rigid and deformable surfaces[Research Report] RR-6089, INRIA. 2007, pp.21 |
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Direct visual servoing with respect to rigid objects[Research Report] RR-6265, INRIA. 2007, pp.24 |
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Visual Servoing Invariant to Changes in Camera Intrinsic ParametersRR-4309, INRIA. 2001 |
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Euclidean Bundle Adjustment Independent on Camera Intrinsic ParametersRR-4377, INRIA. 2001 |
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2D 1/2 Visual Servoing[Research Report] RR-3387, INRIA. 1998 |
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Contributions à la modélisation et à la commande en asservissement visuelRobotique [cs.RO]. Université de Rennes 1, 1998. Français. ⟨NNT : ⟩ |
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Vision-based estimation and robot controlAutomatic. Université Nice Sophia Antipolis, 2008 |