References of "Pierlot, Vincent"
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See detailBeAMS: a Beacon based Angle Measurement Sensor for mobile robot positioning
Pierlot, Vincent ULg; Van Droogenbroeck, Marc ULg

in IEEE Transactions on Robotics (2014), 30(30), 533-549

Positioning is a fundamental issue in mobile robot applications, and it can be achieved in multiple ways. Among these methods, triangulation based on angle measurements is widely used, robust, accurate ... [more ▼]

Positioning is a fundamental issue in mobile robot applications, and it can be achieved in multiple ways. Among these methods, triangulation based on angle measurements is widely used, robust, accurate, and flexible. This paper presents BeAMS, a new active beacon-based angle measurement system used for mobile robot positioning. BeAMS introduces several major innovations. One innovation is the use of a unique unsynchronized channel with On-Off Keying modulated infrared signals to measure angles and to identify the beacons. We also introduce a new mechanism to measure angles: our system detects a beacon when it enters and leaves an angular window. We show that the estimator resulting from the center of this angular window provides an unbiased estimate of the beacon angle. A theoretical framework for a thorough performance analysis of BeAMS is provided. We establish the upper bound of the variance and validate this bound through experiments and simulations; the overall error measure of BeAMS is lower than 0.24 deg for an acquisition rate of 10 Hz. In conclusion, BeAMS is a low power, flexible, and robust solution for angle measurement, and a reliable component for robot positioning. [less ▲]

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See detailA New Three Object Triangulation Algorithm for Mobile Robot Positioning
Pierlot, Vincent ULg; Van Droogenbroeck, Marc ULg

in IEEE Transactions on Robotics (2014), 30(3), 566-577

Positioning is a fundamental issue in mobile robot applications. It can be achieved in many ways. Among them, triangulation based on angles measured with the help of beacons is a proven technique. Most of ... [more ▼]

Positioning is a fundamental issue in mobile robot applications. It can be achieved in many ways. Among them, triangulation based on angles measured with the help of beacons is a proven technique. Most of the many triangulation algorithms proposed so far have major limitations. For example, some of them need a particular beacon ordering, have blind spots, or only work within the triangle defined by the three beacons. More reliable methods exist; however, they have an increasing complexity or they require to handle certain spatial arrangements separately. In this paper, we present a simple and new three object triangulation algorithm, named ToTal, that natively works in the whole plane, and for any beacon ordering. We also provide a comprehensive comparison between many algorithms, and show that our algorithm is faster and simpler than comparable algorithms. In addition to its inherent efficiency, our algorithm provides a very useful and unique reliability measure, assessable anywhere in the plane, which can be used to identify pathological cases, or as a validation gate in Kalman filters. [less ▲]

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See detailDesign, performance analysis, and implementation of a positioning system for autonomous mobile robots
Pierlot, Vincent ULg

Doctoral thesis (2013)

Positioning is a fundamental issue in mobile robot applications, and it can be achieved in multiple ways. Among these methods, triangulation based on angle measurements is widely used, robust, and ... [more ▼]

Positioning is a fundamental issue in mobile robot applications, and it can be achieved in multiple ways. Among these methods, triangulation based on angle measurements is widely used, robust, and flexible. In this thesis, we present an original beacon-based angle measurement system, an original triangulation algorithm, and a calibration method, which are parts of an absolute robot positioning system in the 2D plane. Also, we develop a theoretical model, useful for evaluating the performance of our system. In the first part, we present the hardware system, named BeAMS, which introduces several innovations. A simple infrared receiver is the main sensor for the angle measurements, and the beacons are common infrared LEDs emitting an On-Off Keying signal containing the beacon ID. Furthermore, the system does not require an additional synchronization channel between the beacons and the robot. BeAMS introduces a new mechanism to measure angles: it detects a beacon when it enters and leaves an angular window. This allows the sensor to analyze the temporal evolution of the received signal inside the angular window. In our case, this feature is used to code the beacon ID. Then, a theoretical framework for a thorough performance analysis of BeAMS is provided. We establish the upper bound of the variance and its exact evolution as a function of the angular window. Finally, we validate our theory by means of simulated and experimental results. The second part of the thesis is concerned with triangulation algorithms. Most triangulation algorithms proposed so far have major limitations. For example, some of them need a particular beacon ordering, have blind spots, or only work within the triangle defined by the three beacons. More reliable methods exist, but they have an increasing complexity or they require to handle certain spatial arrangements separately. Therefore, we have designed our own triangulation algorithm, named ToTal, that natively works in the whole plane, and for any beacon ordering. We also provide a comprehensive comparison between other algorithms, and benchmarks show that our algorithm is faster and simpler than similar algorithms. In addition to its inherent efficiency, our algorithm provides a useful and unique reliability measure, assessable anywhere in the plane, which can be used to identify pathological cases, or as a validation gate in data fusion algorithms. Finally, in the last part, we concentrate on the biases that affect the angle measurements. We show that there are four sources of errors (or biases) resulting in inaccuracies in the computed positions. Then, we establish a model of these errors, and we propose a complete calibration procedure in order to reduce the final bias. Based on the results obtained with our calibration setup, the angular RMS error of BeAMS has been evaluated to 0.4 deg without calibration, and to 0.27 deg, after the calibration procedure. Even for the uncalibrated hardware, BeAMS has a better performance than other prototypes found in the literature and, when the system is calibrated, BeAMS is close to state of the art commercial systems. [less ▲]

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See detailStatistical analysis of modulated codes for robot positioning -- Application to BeAMS
Pierlot, Vincent ULg; Van Droogenbroeck, Marc ULg

Report (2013)

Positioning is a fundamental issue for mobile robots. Therefore, a performance analysis is suitable to determine the behavior of a system, and to optimize its working. Unfortunately, some systems are only ... [more ▼]

Positioning is a fundamental issue for mobile robots. Therefore, a performance analysis is suitable to determine the behavior of a system, and to optimize its working. Unfortunately, some systems are only evaluated experimentally, which makes the performance analysis and design decisions very unclear. In [4], we have proposed a new angle measurement system, named BeAMS, that is the key element of an algorithm for mobile robot positioning. BeAMS introduces a new mechanism to measure angles: it detects a beacon when it enters and leaves an angular window. A theoretical framework for a thorough performance analysis of BeAMS has been provided to establish the upper bound of the variance, and to validate this bound through experiments and simulations. It has been shown that the estimator derived from the center of this angular window provides an unbiased estimate of the beacon angle. This document complements our paper by going into further details related to the code statistics of modulated signals in general, with an emphasis on BeAMS. In particular, the probability density function of the measured angle has been previously established with the assumption that there is no correlation between the times a beacon enters the angular window or leaves it. This assumption is questionable and, in this document, we reconsider this assumption and establish the exact probability density function of the angle estimated by BeAMS (without this assumption). The conclusion of this study is that the real variance of the estimator provided by BeAMS was slightly underestimated in our previous work. In addition to this speci c result, we also provide a new and extensive theoretical approach that can be used to analyze the statistics of any angle measurement method with beacons whose signal has been modulated. To summarize, this technical document has four purposes: (1) to establish the exact probability density function of the angle estimator of BeAMS, (2) to calculate a practical upper bound of the variance of this estimator, which is of practical interest for calibration and tracking (see Table 1, on page 13, for a summary), (3) to present a new theoretical approach to evaluate the performance of systems that use modulated (coded) signals, and (4) to show how the variance evolves exactly as a function of the angular window (while re- maining below the upper bound). [less ▲]

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See detailI-see-3D! An Interactive and Immersive System that dynamically adapts 2D projections to the location of a user’s eyes
Pierard, Sébastien ULg; Pierlot, Vincent ULg; Lejeune, Antoine ULg et al

in International Conference on 3D Imaging (IC3D) (2012, December)

This paper presents a system that gives the illusion of a 3D immersive and interactive environment with 2D projectors. The user does not need to wear glasses, nor to watch a (limited) screen. The virtual ... [more ▼]

This paper presents a system that gives the illusion of a 3D immersive and interactive environment with 2D projectors. The user does not need to wear glasses, nor to watch a (limited) screen. The virtual world is all around him, drawn on the floor. As the user is himself immersed in the virtual world, there is no need for a proxy like an avatar; he can move inside the virtual environment freely. Moreover, the Isee-3D system allows a user to manipulate virtual objects with his own body, making interactions with the virtual world very intuitive. Giving the illusion of 3D requires to render images insuch a way that the deformation of the image projected on thefloor is taken into account, as well as the position of the user’s “eye” in its virtual world. The resulting projection is neither perspective nor orthographic. Nevertheless, we describe how thiscan be implemented with the standard OpenGL pipeline, without any shader. Our experiments demonstrate that our system is effective in giving the illusion of 3D. Videos showing the results obtained with our I-see-3D system are available on our website http://www.ulg.ac.be/telecom/projector [less ▲]

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See detailAnalysis of a robot positioning system based on a rotating receiver, beacons, and coded signals
Pierlot, Vincent ULg; Van Droogenbroeck, Marc ULg

in Proceedings of the European Signal Processing Conference (EUSIPCO) (2011, August)

Positioning is a fundamental issue in mobile robot applications that can be achieved in multiple ways. Among these methods, triangulation with active beacons is widely used, robust, accurate, and flexible ... [more ▼]

Positioning is a fundamental issue in mobile robot applications that can be achieved in multiple ways. Among these methods, triangulation with active beacons is widely used, robust, accurate, and flexible. In this paper, we analyze the performance of an original system, introduced in a one of our previous papers, that comprises a rotating receiver and beacons that send an On-Off Keying modulated infrared signal. The probability density function of the measured angles is established and discussed. In particular, it is shown that the proposed estimator is a non biased estimator of the beacon angular position. We also evaluate the theoretical results by means of both a simulator and measurements. [less ▲]

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See detailA new three object triangulation algorithm based on the power center of three circles
Pierlot, Vincent ULg; Van Droogenbroeck, Marc ULg; Urbin-Choffray, Maxime

in Research and Education in Robotics (EUROBOT) (2011, June)

Positioning is a fundamental issue in mobile robot applications that can be achieved in multiple ways. Among these methods, triangulation is a proven technique. As it exists for a long time, many variants ... [more ▼]

Positioning is a fundamental issue in mobile robot applications that can be achieved in multiple ways. Among these methods, triangulation is a proven technique. As it exists for a long time, many variants of triangulation have been proposed. Which variant is most appropriate depends on the application because some methods ignore the beacon ordering while other have blind spots. Some methods are reliable but at a price of increasing complexity or special cases study. In this paper, we present a simple and new three object triangulation algorithm. Our algorithm works in the whole plane (except when the beacons and the robot are concyclic or colinear), and for any beacon ordering. Moreover, it does not need special cases study and has a strong geometrical meaning. Benchmarks show that our algorithm is faster than existing and comparable algorithms. Finally, a quality measure is intrinsically derived for the triangulation result in the whole plane, which can be used to identify the pathological cases, or as a validation gate in Kalman filters. [less ▲]

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See detailA new precise ultrasonic range sensor based on the emission of two coded FSK signals combined to a ping-pong strategy
Pierlot, Vincent ULg; Tassin, Pierre; Van Droogenbroeck, Marc ULg

in Conference on Research in Information and communication Technology (2010, November)

Ultrasonic range sensors are widely used in robotic applications mainly for obstacle avoidance or environment map generation. They are attractive because of the low cost of the transducers, associated ... [more ▼]

Ultrasonic range sensors are widely used in robotic applications mainly for obstacle avoidance or environment map generation. They are attractive because of the low cost of the transducers, associated electronics and implementation facilities. On the other hand, they suffer from several limitations inherent to the underlying principle. Most of these systems send a short pulse at an ultrasonic frequency, that reflects on some object in the environment and then that returns back to the emitter. The propagation time in conjunction with the knowledge of the speed of sound in the air are used to compute the distance between the emitter and the object. The main drawbacks are multipaths, echos, diffraction, etc, resulting in unreliable range measurements. This paper present a new ultrasonic range sensor using ping-pong strategy, FSK modulation and coded signals to overcome those main limitations. [less ▲]

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See detailA platform for the fast interpretation of movements and localization of users in 3D applications driven by a range camera
Pierard, Sébastien ULg; Pierlot, Vincent ULg; Barnich, Olivier ULg et al

in Proceedings of the 3DTV Conference (2010, June)

Interactivity is one of the key challenges for immersive applications like gaming. Manufacturers have been working towards interfaces that are driven by a device (e.g. a Wiimote) or interfaces that are ... [more ▼]

Interactivity is one of the key challenges for immersive applications like gaming. Manufacturers have been working towards interfaces that are driven by a device (e.g. a Wiimote) or interfaces that are controlled by a camera with a subsequent computer vision module. Both approaches have unique advantages, but they do not permit to localize users in the scene with an appropriate accuracy. Therefore, we propose to use both a range camera and accurate range sensors to enable the interpretation of movements. This paper describes a platform that uses a range camera to acquire the silhouettes of users, regardless of illumination, and to improve the pose recovery with range information after some image processing steps. In addition, to circumvent the difficult process of calibration required to map range values to physical distances, we complete the system with several range laser sensors. These sensors are located in a horizontal plane, and measure distances up to a few centimeters. We combine all these measurements to obtain a localization map, used to locate users in the scene at a negligible computational cost. Our method fills a gap in 3D applications that requires absolute positions. [less ▲]

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See detailA simple and low cost angle measurement system for mobile robot positioning
Pierlot, Vincent ULg; Van Droogenbroeck, Marc ULg

in Workshop on Circuits, Systems and Signal Processing (ProRISC) (2009, November)

Positioning is a fundamental issue in mobile robot applications that can be achieved in multiple ways. Among these methods, triangulation with active beacons is widely used, robust, accurate, and flexible ... [more ▼]

Positioning is a fundamental issue in mobile robot applications that can be achieved in multiple ways. Among these methods, triangulation with active beacons is widely used, robust, accurate, and flexible. Our paper presents a new active beacon-based angle measurement system for indoor navigation using infrared signals. We propose a complete system for global positioning on a 2D plane based on the following parts: (1) a mirror, a lens, and a light guide, (2) a mini stepper motor and its controller, (3) an infrared receiver (TSOP7000), (4) a PIC microcontroller, and (5) three infrared beacons. The acquisition rate is 10 [Hz] and the accuracy is about 0.1 [degree]. The entire sensor is contained in a (8 X 8 X 8) [cm3] volume. The key innovation is the use of a cheap and simple infrared receiver as the main sensor for the angle measurement principle. The beacons too are simple cheap infrared LEDs. Furthermore, the system requires only one infrared communication channel, and no synchronization between the beacons and the robot is required. [less ▲]

Detailed reference viewed: 139 (20 ULg)