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Rukubayihunga A.,Wassa IBISC Laboratory | Didier J.-Y.,IBISC Laboratory | Otmane S.,IBISC Laboratory
Adjunct Proceedings of the 2016 IEEE International Symposium on Mixed and Augmented Reality, ISMAR-Adjunct 2016 | Year: 2016

Augmented reality is a field which improves user experience of the real environment by providing some relevant additional data. Understanding what happens in the workspace of the AR system in a maintenance context and for checking compliance of workers actions according to the expected ones are major challenges in this field. Usually, proposed approaches in literature are user centred and consist to gestures classification techniques. We opt to object centred methods. Indeed, when models are well configured, they provide information about motion between parts implied in assembly tasks which could be compared to predefined motion constraints. However, in real conditions, extracted motion curves are very noisy, may be difficult to exploit and may induce some AR systems misinterpretations. In this paper, we propose a method to reduce noise in real time in these curves based on Support Vector Machines confidence scores. The goal is to appropriately weaken false values and correctly straighten rotation axis according to the confidence we could have on pose estimation. Preliminary results are promising but the method still needs some improvements. © 2016 IEEE.


Pechberti S.,LIVIC Laboratory | Gruyer D.,LIVIC Laboratory | Vigneron V.,IBISC Laboratory
IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC | Year: 2012

This paper proposes a new radar sensor modelling for Advanced Driver Assistance Systems (ADAS) prototyping. The model is embedded on the SiVIC platform (Simulator for Vehicle, Infrastructure and Sensors). Lots of simulators already exist for this issue, but none is designed to address the objectives of real-time computation, highly sampled signal generation. And few simulators offer the ability to be integrated in a dynamic platform for the ADAS prototyping. In this paper, several radar technologies will be presented. Then, a radar designed especially for automotive domain will be described exploring each subparts, radar antenna andi.e. propagation channel. Such as the generic model, hypothesis done on electromagnetic waves and environmental objects modelling will also be provided. A first model of simple duplex radar with Frequency Shift Keying (FSK) modulation is implemented and shown as illustration for the defined architecture. Finally, in order to optimize the duration for signal generation, several software architecture solution will be proposed. © 2012 IEEE.


Didier J.-Y.,IBISC Laboratory | Mallem M.,IBISC Laboratory
CBSE 2014 - Proceedings of the 17th International ACM SIGSOFT Symposium on Component-Based Software Engineering (Part of CompArch 2014) | Year: 2014

When programming software applications, developers have to deal with many functional and non-functional requirements. During the last decade, especially in the augmented reality field of research, many frameworks have been developed using a component-based approach in order to fulfil the non-functional requirements. In this paper, we focus on such a specific requirement: race conditions issues in component-based systems. We present a heuristic that analyses data flows and detects components that may be subject to race conditions. A toy example introducing the problem and the solution is developed and implemented under the ARCS (for Augmented Reality Component System) framework. We also show the results of our algorithm on real size applications using up to 70 components and compare those results with some obtained by developers who had to make exactly the same work by hand. Copyright © 2014 ACM.


Migniot C.,IBISC laboratory | Ababsa F.,IBISC laboratory
Journal of Real-Time Image Processing | Year: 2014

This paper addresses the problem of 3D tracking of human gesture for buying behavior estimation. The top view of the customers, which has been little treated for human tracking, is exploited in this particular context. This point of view avoids occlusion except for those of the arms. We propose an hybrid 3D-2D tracking method based on the particle filtering framework, which uses the exclusion principle to separate the observation related to each customer and deals with multi-person tracking. The head and shoulders are tracked in the 2D space, while the arms are tracked in the 3D space: these are the spaces where they are the most descriptive. We validate our method both experimentally, so as to obtain qualitative results, and on-site. We demonstrated that it makes a good estimation for various cases and situations in real-time ((Formula presented.)40 fps). © 2014 Springer-Verlag Berlin Heidelberg.


Boucher M.,IBISC Laboratory | Ababsa F.,IBISC Laboratory | Mallem M.,IBISC Laboratory
Procedia Computer Science | Year: 2014

Historically popular, the well established monocular-SLAM is however subject to some limitations. The advent of cheap depth sensors allowed to circumvent some of these. Related methods frequently focus heavily on depth data. However these sensors have their own weaknesses. In some cases it is more appropriate to use both intensity and depth informations equally. We first conduct a few experiments in optimal conditions to determine how to use good quality information in our monocular based SLAM. From this we propose a lightweight SLAM designed for small constrained environments. © 2014 The Authors. Published by Elsevier B.V.


Rukubayihunga A.,IBISC Laboratory | Didier J.-Y.,IBISC Laboratory | Otmane S.,IBISC Laboratory
5th International Conference on Image Processing, Theory, Tools and Applications 2015, IPTA 2015 | Year: 2015

Providing relevant information at the right time in the right place is the major challenge in augmented reality, especially when it is applied in industry related applications. Indeed, by superimposing virtual elements on images which capture the real scene, augmented reality has proved its potential and maturity for facilitating maintenance activities, especially in training, repairing or inspections. In this system, instructions for an assembly or disassembly actions are linearly displayed to users and triggered sequentially and manually by the operator once he has completed each individual step. In this paper, we explore a metric which will allow the system to determine automatically when two objects are assembled since it provides hints on the current step of the maintenance scenario. This metric is based on pose estimations and reprojection errors by considering that the two objects are independent. The first results obtained on both synthetic and real image sequences show that this metric is efficient in detecting assembly/disassembly instants. We also lend guidelines on how to integrate this metric in a bigger computer vision system designed around maintenance task scenarios provided using augmented reality. © 2015 IEEE.


Maidi M.,IBISC Laboratory | Didier J.-Y.,IBISC Laboratory | Ababsa F.,IBISC Laboratory | Mallem M.,IBISC Laboratory
Machine Vision and Applications | Year: 2010

Vision-based tracking systems are widely used for augmented reality (AR) applications. Their registration can be very accurate and there is no delay between real and virtual scene. However, vision-based tracking often suffers from limited range, errors, heavy processing time and present erroneous behavior due to numerical instability. To address these shortcomings, robust method are required to overcome these problems. In this paper, we survey classic vision-based pose computations and present a method that offers increased robustness and accuracy in the context of real-time AR tracking. In this work, we aim to determine the performance of four pose estimation methods in term of errors and execution time. We developed a hybrid approach that mixes an iterative method based on the extended Kalman filter (EKF) and an analytical method with direct resolution of pose parameters computation. The direct method initializes the pose parameters of the EKF algorithm which performs an optimization of these parameters thereafter. An evaluation of the pose estimation methods was obtained using a series of tests and an experimental protocol. The analysis of results shows that our hybrid algorithm improves stability, convergence and accuracy of the pose parameters. © Springer-Verlag 2008.


Maidi M.,IBISC Laboratory | Mallem M.,IBISC Laboratory | Benchikh L.,IBISC Laboratory | Otmane S.,IBISC Laboratory
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) | Year: 2013

In automotive industry, industrial robots are widely used in production lines for many tasks such as welding, painting or assembly. Their use requires, from users, both a good manipulation and robot control. Recently, new tools have been developed to realize fast and accurate trajectories in many production sectors by using the real prototype of vehicle or a generalized design within a virtual simulation platform. However, many issues could be considered in these cases: the delay between the design of the vehicle and its production is often important, moreover, the virtual modeling presents a non realistic aspect of the real robot and vehicle, so this factor could introduce localization inacurracies in performing trajectories. Our work is registered as a part of TRI project (Teleteaching Industrial Robots) which aims to realize a demonstrator showing the interaction of industrial robots with virtual components and allowing to train users to perform successfully their tasks on a virtual representation of a production entity. In this project we make use of Augmented Reality (AR) techniques to overlay virtual objects onto the real world in order to enhance the user's perception and interaction while performing a specific industrial task. The idea is to allow the real robot to teach trajectories of an automotive task thanks to vehicle virtual model. The pose accuracy is prerequisite of our application since it allows a reliable teaching of the real trajectory. Therefore, we survey some vision-based pose computation algorithms and present a method that offers increased robustness and accuracy in the context of real-time AR tracking. Our aim is to determine the performance of these pose estimation methods in term of errors and distance evaluation. The evaluation of the pose estimation methods was obtained using a series of tests and an experimental protocol. The analysis of results shows the performance of algorithms in term of accuracy, stability and convergence. © 2013 Springer-Verlag Berlin Heidelberg.


Nehaoua L.,IBISC Laboratory | Arioui H.,IBISC Laboratory | Seguy N.,IBISC Laboratory | Mammar S.,IBISC Laboratory
Vehicle System Dynamics | Year: 2013

This paper presents a motorcycle direct dynamic formulation by the Jourdain's principle approach. This vehicle is considered as an assembly of six rigid bodies and the resulting equation of motion allows to simulate 11 degrees of freedom. The vehicle geometry is described and a step-by-step procedure is introduced to evaluate the kinematics and the generalised efforts of the considered vehicle. In addition, to simulate the equation of motion, a Lyapunov-based stabilisation is developed to assess the vehicle behaviour in response to a propulsion/braking torque applied on the vehicle's wheels and a rider torque exerted on the motorcycle's handlebar. Simulation results reveal some dynamic features such as load transfer and counter-steering phenomena. © 2013 Taylor & Francis.


Chouiten M.,IBISC Laboratory | Didier J.-Y.,IBISC Laboratory | Mallem M.,IBISC Laboratory
ComsWare 2011 - Proceedings of the 5th International Conference on Communication System Software and Middleware | Year: 2011

This paper describes the design and implementation of a middleware for a framework dedicated to Augmented Reality/Mixed Reality (AR/MR) applications. The goal is to offer an environment for the development of distributed applications running on mobile devices (wearable computers and/or smartphones). The paper first presents the main needs of an AR application and introduces the necessity of distribution in this field. Then we make a quick overview of existing distributed AR frameworks. The goal of this overview is to extract main features and strengths of each framework's architecture based on a set of defined criteria. This comparison being meant as a starting point to extend our own framework (ARCS: Augmented Reality Component System), the last section is about the design and implementation of our own software infrastructure for transparent distributed Augmented Reality taking in consideration our own goals and constraints and taking profit of the strengths of the studied existing frameworks. © 2011 ACM.

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