antoineandre Goto Github PK

Post-doc

My current research focuses on visual servoing with great precision and large convergence domain. To do this, omnidirectional cameras are taken in account, since they can provide a full 360 degrees representation of the scene. This representation allows to work with a spherical representation of the images, providing a better understanding of the scene.

These post-doctoral researches started in Amiens, in the MIS laboratory of research, in the PR team (Robotics perception).

More details can be found in the 2022 CVPR conference paper : Photometric Visual Gyroscope for Full-View Spherical Camera

Ph.D.

My previous research was focusing on the pose measurement with nanometric resolution of periodic patterns with the help of microscopy computer vision. Developped tool to achieve this is available as a precompiled .dll here.

More details about the process of high resolution pose measurement can be found on my website

An open source version of this pose measurement method is available for the 1D case with matlab in this repository

Preprint of already published papers are available here:

• Sensing One Nanometer over Ten Centimeters: A Micro-Encoded Target for Visual In-Plane Position Measurement
• Robust phase-based decoding for absolute (X,Y,Θ) positioning by vision
• Robust, precise and scalable: A phase-encoded pattern for visual X, Y, Θ positioning

The manuscript of the thesis is available here (in french).

I gave practical courses for 3 years at ENSMM (Besançon) to 3rd year engineer students (M2 students). Aborded topics were highly linked to computer vision such as:

• Camera calibration
• 2 cameras homography (see github repo aruco_video_homography)
• 3D reconstruction from 2 cameras
• 3D triangulation

I also had the opportunity to give practical courses on microcontrollers (PIC16F) to second year students.

• Engineer degree at ENSMM (National Superior School of Mechanics and Microtechnics), robotics and mechatronics specialization.
• Microsystems, Instrumentation and Robotics Master double degree at University of Franche-Comté, Besançon.
• 6 months long internship at the Tokyo Denki University (Tokyo, Japan) working on compliant command based on Serial Elastic Actuators for prostethics hands.

• Resume
• Personnal website
• Vernier project website