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Keywords

Autonomous vehicle Odométrie visuelle Calibrage Estimation du mouvement Localisation Object detection IMU GPU Mots-clefs Lidar Computer Vision for Other Robotic Applications Robotics Deep learning Centrale inertielle Action recognition Calibration CUDA Distance estimation Localization Motion estimation Lidar
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Rémi Boutteau 

Rémi Boutteau received his engineering degree from the IMT Lille Douai and his MSc degree in Computer Science from the University of Lille in 2006. In 2010, he received his PhD degree from the University of Rouen Normandy for works related to Computer Vision (catadioptric sensors, 3D reconstruction, Structure-from-Motion). From 2009 to 2020, he was an Associate Professor at the ESIGELEC  engineering school and a researcher in the IRSEEM research institute. In 2018, he obtained the HDR (French Habilitation to supervise research) from the University of Rouen Normandy for his research on autonomous vehicles localization. Since 2020, he is a Full Professor at University of Rouen Normandy within the STI team (Intelligent Transportation System) at the LITIS Lab (IT Laboratory, Information Processing and Systems). His research interests are perception, localization and computer vision dedicated to autonomous vehicles.

Journal articles17 documents

  • Antoine Mauri, Redouane Khemmar, Benoit Decoux, Madjid Haddad, Rémi Boutteau. Real-Time 3D Multi-Object Detection and Localization Based on Deep Learning for Road and Railway Smart Mobility. Journal of Imaging, MDPI, 2021, 7 (8), pp.145. ⟨10.3390/jimaging7080145⟩. ⟨hal-03324039⟩
  • Rémi Boutteau, Romain Rossi, Lei Qin, Pierre Merriaux, Xavier Savatier. A Vision-Based System for Robot Localization in Large Industrial Environments. Journal of Intelligent and Robotic Systems, Springer Verlag, 2020, 99, ⟨10.1007/s10846-019-01114-x⟩. ⟨hal-02388672⟩
  • Mickael Delamare, Fabrice Duval, Rémi Boutteau. A New Dataset of People Flow in an Industrial Site with UWB and Motion Capture Systems. Sensors, MDPI, 2020, 20 (16), pp.4511. ⟨10.3390/s20164511⟩. ⟨hal-02937349⟩
  • Antoine Mauri, Redouane Khemmar, Benoit Decoux, Nicolas Ragot, Romain Rossi, et al.. Deep Learning for Real-Time 3D Multi-Object Detection, Localisation, and Tracking: Application to Smart Mobility. Sensors, MDPI, 2020, 20 (2), pp.532. ⟨10.3390/s20020532⟩. ⟨hal-02446258⟩
  • Rawia Mhiri, Safa Ouerghi, Rémi Boutteau, Pascal Vasseur, Stéphane Mousset, et al.. Asynchronous Structure from Motion at Scale. Journal of Intelligent and Robotic Systems, Springer Verlag, 2019, ⟨10.1007/s10846-018-0974-6⟩. ⟨hal-01986330⟩
  • Louis Lecrosnier, Rémi Boutteau, Pascal Vasseur, Xavier Savatier, Friedrich Fraundorfer. Camera Pose Estimation Based on PnL With a Known Vertical Direction. IEEE Robotics and Automation Letters, IEEE 2019, 4 (4), pp.3852-3859. ⟨10.1109/LRA.2019.2929982⟩. ⟨hal-02286139⟩
  • Merriaux Pierre, Romain Rossi, Rémi Boutteau, Vincent Vauchey, Lei Qin, et al.. The VIKINGS Autonomous Inspection Robot: Competing in the ARGOS Challenge. IEEE Robotics and Automation Magazine, Institute of Electrical and Electronics Engineers, 2019, 26 (1), pp.21-34. ⟨10.1109/MRA.2018.2877189⟩. ⟨hal-01985234⟩
  • Mickael Delamare, Rémi Boutteau, Xavier Savatier, Nicolas Iriart. Static and Dynamic Evaluation of an UWB Localization System for Industrial Applications. SCI Nursing, United Spinal Association, 2019, 1 (3), pp.62. ⟨10.3390/sci1030062⟩. ⟨hal-02351169⟩
  • Rémi Boutteau, Peter Sturm, Pascal Vasseur, Cédric Demonceaux. Circular Laser/Camera-based attitude and altitude estimation: minimal and robust solutions. Journal of Mathematical Imaging and Vision, Springer Verlag, 2018, 60 (3), pp.382-400. ⟨10.1007/s10851-017-0764-y⟩. ⟨hal-01684031⟩
  • Pierre Merriaux, Yohan Dupuis, Rémi Boutteau, Pascal Vasseur, Xavier Savatier. Robust Robot Localization in a Complex Oil and Gas Industrial Environment. Journal of Field Robotics, Wiley, 2018, 35 (2), pp.213-230. ⟨hal-01535781⟩
  • Enjie Ghorbel, Rémi Boutteau, Jacques Boonaert, Xavier Savatier, Stéphane Lecoeuche. Kinematic Spline Curves: A temporal invariant descriptor for fast action recognition. Image and Vision Computing, Elsevier, 2018, 77, pp.60-71. ⟨10.1016/j.imavis.2018.06.004⟩. ⟨hal-01860250⟩
  • Safa Ouerghi, Rémi Boutteau, Xavier Savatier, Fethi Tlili. Visual Odometry and Place Recognition Fusion for Vehicle Position Tracking in Urban Environments. Sensors, MDPI, 2018, 18 (4), pp.939. ⟨10.3390/s18040939⟩. ⟨hal-01741007⟩
  • Enjie Ghorbel, Jacques Boonaert, Rémi Boutteau, Stéphane Lecoeuche, Xavier Savatier. An extension of kernel learning methods using a modified Log-Euclidean distance for fast and accurate skeleton-based Human Action Recognition. Computer Vision and Image Understanding, Elsevier, 2018, 175, pp.32-43. ⟨10.1016/j.cviu.2018.09.004⟩. ⟨hal-01957644⟩
  • Olivier Saurer, Pascal Vasseur, Rémi Boutteau, Cédric Demonceaux, Marc Pollefeys, et al.. Homography Based Egomotion Estimation with a Common Direction. IEEE Transactions on Pattern Analysis and Machine Intelligence, Institute of Electrical and Electronics Engineers, 2017, 39 (2), pp.327-341. ⟨10.1109/TPAMI.2016.2545663⟩. ⟨hal-01466853⟩
  • Pierre Merriaux, Yohan Dupuis, Rémi Boutteau, Pascal Vasseur, Xavier Savatier. A Study of Vicon System Positioning Performance. Sensors, MDPI, 2017, 17 (7), ⟨10.3390/s17071591⟩. ⟨hal-01710399⟩
  • Fabien Bonardi, Samia Ainouz, Rémi Boutteau, Yohan Dupuis, Xavier Savatier, et al.. PHROG: A Multimodal Feature for Place Recognition. Sensors, MDPI, 2017, 17, pp.1167 - 1167. ⟨10.3390/s17051167⟩. ⟨hal-01535910⟩
  • Rémi Boutteau, Xavier Savatier, Jean-Yves Ertaud, Belahcene Mazari. An Omnidirectional Stereoscopic System for Mobile Robot Navigation. Sensors & Transducers Journal, International Frequency Sensor Association (IFSA), 2009. ⟨hal-01710395⟩

Conference papers30 documents

  • Amal Ennajar, Nadia Khouja, Rémi Boutteau, Fethi Tlili. Deep Multi-modal Object Detection for Autonomous Driving. 2021 18th International Multi-Conference on Systems, Signals & Devices (SSD), Mar 2021, Monastir, Tunisia. pp.7-11, ⟨10.1109/SSD52085.2021.9429355⟩. ⟨hal-03255470⟩
  • Hassan Nehme, Clément Aubry, Romain Rossi, Rémi Boutteau. An anomaly detection approach to monitor the structure-based navigation in agricultural robotics. IEEE International Conference on Automation Science and Engineering (CASE), Aug 2021, Lyon, France. ⟨hal-03255483⟩
  • Antoine Mauri, Redouane Khemmar, Rémi Boutteau, Benoit Decoux, Jean-Yves Ertaud, et al.. A new Evaluation Approach for Deep Learning-based Monocular Depth Estimation Methods. The 23rd IEEE International Conference on Intelligent Transportation Systems, Sep 2020, Rhodes (virtual conference), Greece. ⟨hal-02978149⟩
  • Safa Ouerghi, Nicolas Ragot, Rémi Boutteau, Xavier Savatier. Comparative Study of a commercial tracking camera and ORB-SLAM2 for person localization. 15th International Conference on Computer Vision Theory and Applications, Feb 2020, Valletta, France. pp.357-364, ⟨10.5220/0008980703570364⟩. ⟨hal-02567816⟩
  • Rim Trabelsi, Redouane Khemmar, Rémi Boutteau, Benoit Decoux, Jean Yves Ertaud. Toward Comprehensive Road Agents Behavior Understanding. CSTI 2020 : 1er Colloque Francophone des Systèmes de Transports Intelligents, Nov 2020, tunis, Tunisia. ⟨hal-03016779⟩
  • Louis Lecrosnier, Rémi Boutteau, Pascal Vasseur, Xavier Savatier, Friedrich Fraundorfer. Camera pose estimation based on PnL with a known vertical direction. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nov 2019, Macau, China. ⟨hal-02401918⟩
  • Pierre Merriaux, Romain Rossi, Rémi Boutteau, Vincent Vauchey, Lei Qin, et al.. VIKINGS: An Autonomous Inspection Robot for the ARGOS Challenge. IEEE International Conference on Robotics and Automation (ICRA), May 2019, Montreal, Canada. ⟨hal-02143413⟩
  • Mickaël Delamare, Rémi Boutteau, Xavier Savatier, Nicolas Iriart. Evaluation of an UWB localization system in Static/Dynamic. International Conference on Indoor Positioning and Indoor Navigation (IPIN), Sep 2019, Pisa, Italy. ⟨hal-02351568⟩
  • Louis Lecrosnier, Rémi Boutteau, Pascal Vasseur, Xavier Savatier, Friedrich Fraundorfer. Vision based vehicle relocalization in 3D line-feature map using Perspective-n-Line with a known vertical direction. 2019 IEEE Intelligent Transportation Systems Conference - ITSC, Oct 2019, Auckland, New Zealand. pp.1263-1269, ⟨10.1109/ITSC.2019.8916886⟩. ⟨hal-02388633⟩
  • Pierre Merriaux, Rémi Boutteau, Romain Rossi, Guillaume Coru, Vincent Vauchey, et al.. Synchronisation et calibrage entre un Lidar 3D et une centrale inertielle pour la localisation précise d'un véhicule autonome. Journées scientifiques d'URSI-France (Géolocalisation et Navigation dans l'Espace et le Temps), Mar 2018, Meudon, France. ⟨hal-01757933⟩
  • Safa Ouerghi, Rémi Boutteau, Xavier Savatier, Fethi Tlili. CUDA Accelerated Visual Egomotion Estimation for Robotic Navigation. 12th International Conference on Computer Vision Theory and Applications, Feb 2017, Porto, Portugal. pp.107-114, ⟨10.5220/0006171501070114⟩. ⟨hal-01712334⟩
  • Safa Ouerghi, Rémi Boutteau, Fethi Tlili, Xavier Savatier. CUDA-based SeqSLAM for Real-Time Place Recognition. International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision, May 2017, Plzen, Czech Republic. ⟨hal-01712346⟩
  • Fabien Bonardi, Samia Ainouz, Rémi Boutteau, Yohan Dupuis, Xavier Savatier, et al.. Localisation visuelle multimodale à long terme. GRETSI 2017, Sep 2017, Juan-les-Pins, France. ⟨hal-01592113⟩
  • Fabien Bonardi, Samia Ainouz, Rémi Boutteau, Yohan Dupuis, Xavier Savatier, et al.. A Novel Global Image Description Approach for Long Term Vehicle Localization. EUSIPCO 2017, Aug 2017, Kos, Greece. ⟨hal-01592116⟩
  • Pierre Merriaux, Yohan Dupuis, Rémi Boutteau, Pascal Vasseur, Xavier Savatier. Correction de nuages de points lidar embarqué sur véhicule pour la reconstruction d'environnement 3D vaste. Reconnaissance de Formes et Intelligence Artificielle (RFIA), Jun 2016, Clermont-Ferrand, France. ⟨hal-01906323⟩
  • Safa Ouerghi, Rémi Boutteau, Pierre Merriaux, Nicolas Ragot, Xavier Savatier, et al.. Absolute Localization using Visual Data for Autonomous Vehicles. International Conference on Computer Vision Theory and Applications, Feb 2016, Rome, Italy. ⟨10.5220/0005682105950601⟩. ⟨hal-01710421⟩
  • Enjie Ghorbel, Rémi Boutteau, Jacques Boonaert, Xavier Savatier, Stéphane Lecoeuche. Vers une reconnaissance en ligne d'actions à partir de caméras RGB-D. Reconnaissance de Formes et Intelligence Artificielle, Jun 2016, Clermont Ferrand, France. ⟨hal-01713922⟩
  • Enjie Ghorbel, Rémi Boutteau, Jacques Bonnaert, Xavier Savatier, Stéphane Lecoeuche. A fast and accurate motion descriptor for human action recognition applications. 2016 23rd International Conference on Pattern Recognition (ICPR), Dec 2016, Cancun, Mexico. ⟨10.1109/ICPR.2016.7899753⟩. ⟨hal-01712327⟩
  • Pierre Merriaux, Yohan Dupuis, Rémi Boutteau, Pascal Vasseur, Xavier Savatier. Localisation robuste en milieu industriel complexe. Colloque GRETSI, Sep 2015, Lyon, France. ⟨hal-01875375⟩
  • Enjie Ghorbel, Rémi Boutteau, Jacques Boonaert, Xavier Savatier, Stéphane Lecoeuche. 3D real-time human action recognition using a spline interpolation approach. 2015 International Conference on Image Processing Theory, Tools and Applications (IPTA), Nov 2015, Orleans, France. ⟨10.1109/IPTA.2015.7367097⟩. ⟨hal-01710419⟩
  • René Emmanuel Datondji, Nicolas Ragot, Yassine Nasri, Redouane Khemmar, Rémi Boutteau. Odométrie visuelle par vision omnidirectionnelle pour la navigation autonome d'une chaise roulante motorisée. Journées francophones des jeunes chercheurs en vision par ordinateur, Jun 2015, Amiens, France. ⟨hal-01161916⟩
  • Rawia Mhiri, Pascal Vasseur, Stéphane Mousset, Rémi Boutteau, Abdelaziz Bensrhair. Estimation du mouvement et de la structure à l'échelle absolue à partir d'un réseau multi-caméras non synchronisées. Journées francophones des jeunes chercheurs en vision par ordinateur, Jun 2015, Amiens, France. ⟨hal-01161830⟩
  • Rawia Mhiri, Pascal Vasseur, Stephane Mousset, Rémi Boutteau, Abdelaziz Bensrhair. Accurate scale estimation based on unsynchronized camera network. 2015 IEEE International Conference on Image Processing (ICIP), Sep 2015, Quebec City, Canada. ⟨10.1109/ICIP.2015.7351593⟩. ⟨hal-01710819⟩
  • Rawia Mhiri, Pascal Vasseur, Stephane Mousset, Rémi Boutteau, Abdelaziz Bensrhair. Visual odometry with unsynchronized multi-cameras setup for intelligent vehicle application. 2014 IEEE Intelligent Vehicles Symposium (IV), Jun 2014, Dearborn, United States. ⟨10.1109/IVS.2014.6856533⟩. ⟨hal-01710411⟩
  • Stéphane Le Ménec, Victor Lecointre, Rémi Boutteau, Xavier Savatier, Luc Jaulin. Robotic Demonstration of Collision Avoidance Based on Differential Games. International Symposium on Dynamic Games and Applications, Jul 2014, Amsterdam, Netherlands. ⟨hal-01713912⟩
  • Pierre Merriaux, Rémi Boutteau, Pascal Vasseur, Xavier Savatier. Algorithme de positionnement d'une passerelle à mouvements compensés à partir de mesures inertielles et lidar pour les opérations de maintenance des parcs éoliens offshore. Reconnaissance de Formes et Intelligence Artificielle (RFIA) 2014, Jun 2014, Rouen, France. ⟨hal-00989108⟩
  • Rawia Mhiri, Pascal Vasseur, Stéphane Mousset, Rémi Boutteau, Abdelaziz Bensrhair. Estimation à l'échelle du mouvement d'un réseau multi-caméras non synchronisées. Reconnaissance de Formes et Intelligence Artificielle (RFIA) 2014, Jun 2014, Rouen, France. ⟨hal-00989061⟩
  • Assia Belbachir, Rémi Boutteau, Pierre Merriaux, Jean-Marc Blosseville, Xavier Savatier. From autonomous robotics toward autonomous cars. 2013 IEEE Intelligent Vehicles Symposium (IV), Jun 2013, Gold Coast City, Australia. ⟨10.1109/IVS.2013.6629656⟩. ⟨hal-01710403⟩
  • Xavier Savatier, Rémi Boutteau, Pierre Merriaux, Stéphane Le Ménec. Demonstration of the Salvo Enhanced No Escape Zone Concept using ground mobile robots. Fifteenth International Symposium on Dynamic Games and Applications (SDG 2012), Jul 2012, Bysice, Czech Republic. ⟨hal-01713897⟩
  • Amine Iraqui, Yohan Dupuis, Rémi Boutteau, Jean-Yves Ertaud, Xavier Savatier. Fusion of Omnidirectional and PTZ Cameras for Face Detection and Tracking. 2010 International Conference on Emerging Security Technologies (EST), Sep 2010, Canterbury, United Kingdom. ⟨10.1109/EST.2010.16⟩. ⟨hal-01710402⟩

Book sections2 documents

  • Safa Ouerghi, Rémi Boutteau, Xavier Savatier, Fethi Tlili. CUDA-Accelerated Feature-Based Egomotion Estimation. Computer Vision, Imaging and Computer Graphics – Theory and Applications, 12th International Joint Conference, VISIGRAPP 2017, Porto, Portugal, February 27 – March 1, 2017, Revised Selected Papers, 2019. ⟨hal-02001134⟩
  • Rémi Boutteau, Xavier Savatier, Jean-Yves Ertaud, Bélahcène Mazari. A 3D Omnidirectional Sensor For Mobile Robot Applications. Mobile Robots Navigation, 2010. ⟨hal-01713170⟩

Other publications1 document

  • Pierre Merriaux, Rémi Boutteau, Romain Rossi, Guillaume Coru, Vincent Vauchey, et al.. Synchronisation et calibrage entre un Lidar 3D et une centrale inertielle pour la localisation précise d'un véhicule autonome GEOLOCALISATION ET NAVIGATION Synchronisation et calibrage entre un Lidar 3D et une centrale inertielle pour la localisation precise d'un véhicule autonome Synchronization and calibration between a 3D Lidar and an inertial measurement unit for the accurate localization of an autonomous vehicle. 2018. ⟨hal-02329666⟩

Theses1 document

  • Rémi Boutteau. Reconstruction tridimensionnelle de l'environnement d'un robot mobile, à partir d'informations de vision omnidirectionnelle, pour la préparation d'interventions.. Vision par ordinateur et reconnaissance de formes [cs.CV]. Université de Rouen, 2010. Français. ⟨tel-00711922v2⟩

Habilitation à diriger des recherches1 document

  • Rémi Boutteau. Contribution à la localisation pour le véhicule autonome. Vision par ordinateur et reconnaissance de formes [cs.CV]. Université de Rouen Normandie, 2018. ⟨tel-01963712⟩