Let's read! We will often find out this sentence everywhere. When still being a kid, mom used to order us to always read, so did the teacher. Some books are fully read in a week and we need the obligation to support reading. What about now? Do you still love reading? Is reading only for you who have obligation? Absolutely not! We here offer you a new book enPDFd the perception of the visual world to read.

The Perception of the Visual World. By James J. Gibson. U.S.A.: Houghton Mifflin Company, 1950 (George Allen & Unwin, Ltd., London). Price 35s.

In this paper we present a tutorial introduction to two important senses for biological and robotic systems — inertial and visual perception. We discuss the fundamentals of these two sensing modalities from a biological and an engineering perspective. Digital camera chips and micro-machined accelerometers and gyroscopes are now commodities, and when combined with today's available computing can provide robust estimates of self-motion as well 3D scene structure, without external infrastructure. We discuss the complementarity of these sensors, describe some fundamental approaches to fusing their outputs and survey the field.

An Introduction to Inertial and Visual Sensing

https://hal.archives-ouvertes.fr/hal-00445972/document

Optic flow-based vision system for autonomous 3D localization and control of small aerial vehicles

We aim at developing autonomous microflyers capable of navigating within houses or small indoor environments using vision as the principal source of information. Due to severe weight and energy constraints, inspiration is taken from the fly for the selection of sensors, for signal processing, and for the control strategy. The current 30-g prototype is capable of autonomous steering in a 16/spl times/16 m textured environment. This paper describes models and algorithms which allow for efficient course stabilization and collision avoidance using optic flow and inertial information.

Fly-inspired visual steering of an ultralight indoor aircraft

Safe navigation through corridors plays a major role in the autonomous use of Micro Aerial Vehicles (MAVs) in indoor environments. In this paper, we present an approach for wall collision avoidance using a depth map based on optical flow from on board camera images. An omnidirectional fisheye camera is used as a primary sensor, while IMU data is needed for compensating rotational effects of the optical flow. The here presented approach is designed for safely maneuvering a helicopter through an indoor corridor. Results based on real images taken in a corridor with textured walls are shown at the end of this paper.

/pdf/mav-navigation-through-indoor-corridors-using-optical-flow-4vc1u671t9.pdf

MAV navigation through indoor corridors using optical flow

http://ftp.itam.mx/pub/alfredo/ROBOTICS/optic-flow/Muratet_RAS.pdf

A contribution to vision-based autonomous helicopter flight in urban environments

The concept of autonomous sailing robot is proposed for long term offshore operation as an enhancement for traditional drifting buoys. A prototype of a sailing robot is fully described: structure, sensors, actuators, control system and communication. The sailing boat is modeled and identified from experiments. Control and navigation system is addressed. A simple state machine controller shows very robust performance for both low level and maneuver control.

IBOAT: An autonomous robot for long-term offshore operation

It is well known that classical teleoperation schemes are unstable and even useless when time delays become important. In this paper we propose a new concept called „dual hybrid teleoperation scheme” which really improves the ergonomy of a teleoperation system, even with time delays. Thanks to this concept, the operator can exert forces or perform displacements from the „master” to the „slave”. These forces are the ones that the human operator wants to apply for the current task. This is possible thanks to a special law coupling the two robots, each of them having an hybrid position-force control.

https://oatao.univ-toulouse.fr/2185/1/Briere_2185.pdf

Interest of the dual hybrid control scheme for teleoperation with time delays for proceeding of ISER'95

A new scheme of teleoperation called "dual hybrid control" is described. It is shown that telepresence is increased compared to traditional force feedback schemes. It is particulary well suited for time delay teleoperation.

Yves Briere

Papers

A contribution to vision-based autonomous helicopter flight in urban environments

IBOAT: An autonomous robot for long-term offshore operation

Interest of the dual hybrid control scheme for teleoperation with time delays for proceeding of ISER'95

Interest of the dual hybrid control scheme for teleoperation with time delays

Design Methodologies for the Control of an Unmanned Sailing Robot