Patrick Rives

Contact Email : Patrick.Rives@inria.fr Address : INRIA Sophia Antipolis 2004 Route des Lucioles BP93 06912 Sophia Antipolis cedex - France Office : K001 - Kahn building Tel : +33 4 92 38 77 52 Fax : +33 4 92 38 50 28 Assistant : +33 4 92 38 77 48 (Nathalie Woodward)

Bio

I was born in 1952 and received the Ph.D. degree in Robotics and Automation from the University of Montpellier, France, in 1981. After spending one year (1981-1982) in a Postdoctoral position at INRS/Bell-Northern Research (Montreal, Canada), I joined INRIA as a Research Scientist firstly in Rennes from 1982 until 1988 and after in Sophia Antipolis. I received in 1991 the "Habilitation à Diriger des Recherches" in Computer Science from the University of Nice-Sophia Antipolis. My current position is Senior Research Scientist ("Directeur de Recherche") and my main research interests are autonomous robotics and computer vision. I have currently more of 140 publications in the top journals and conferences of the domain. I was at the head of the ARobAS group from 2008 to 2011 and, now, I lead the Sophia Antipolis part of the project team Lagadic bilocalized in Rennes and Sophia-Antipolis.

I am involved in several national and international projects, some in direct connection with French industrial partners.

I have served in the programme committee of several major conferences in computer vision and robotics: IEEE ICRA (06-12) , IEEE IROS (97-99, 07-12), IJCAI (95), AFCET/RFIA (98, 04-12), ECCV (91), Omnivis (08-12), JNRR (99-13)

I have been Associate Editor of the IEEE Trans. on Robotics and Automation and of the IEEE Trans. on Robotics from 2004 until 2010.

I am member of the executive board and co-leader of the workgroup "Ground Robotics" for the national robotics network GDR-CNRS "Robotique".

Ph.D. Students

• Gokhool Tawsif.
  
• Romain Drouilly.
  
• Alexandre Chapoulie, co-encadré avec David Filliat (ENSTA), Décembre 2012
  
• Maxime Meilland ,
  co-encadré avec Andrew Comport (I3S/CNRS), Mars 2012 ,
  
• Gabriela Gallegos, Juin 2011 ,
  
• Cyril Joly, Juin 2010 ,
  
• Tiago Gonzales ,
  co-encadré avec J.R. Azinheira (IST Lisboa), co-tutelle, Université de Nice-Sophia Antipolis, Universidade Tecnica de Lisboa, Janvier 2010
  
• Vincent Brandou, December 2008 ,
  
• Geraldo Silveira ,
  co-encadré avec Ezio Malis, October 2008 ,
  
• José Luis Carrilho Sequeira, co-encadré avec P. Lourtie (IST Lisboa), June 2008
  
• Christopher Mei ,
  February 2007 ,
  
• Selim Benhimane ,
  co-encadré avec Ezio Malis, December 2006 (Prix de la meilleure thèse de l'ASTI) ,
  
• Nicolas Simond, juin 2005 ,
  
• François-Xavier Espiau, février 2002 ,
  
• Alessandro Victorino,,
  septembre 2002.
  
• David Djian, co-encadré par P. Probert (Oxford University), Février 1997
  
• Gilles Guyot, Janvier 1995
  
• Roger Pissard-Gibollet ,
  Décembre 1993 ,
  
• François Chaumette ,
  co-encadré avec B. Espiau, Juillet 1990 (Prix de la meilleure thèse en automatique de l'AFCET) ,
  
• Xie Ming, Juin 1989
  

Publications

Complete list (with postscript or pdf files if available)

Vision

Calibration

• C. Joly, P. Rives. Self calibration of a vision system embedded in a visual SLAM framework. In IEEE Conference on Intelligent Robots and Systems, IROS'11, Volume, San Francisco, USA, Septembre 2011.
• C. Mei, P. Rives. Single View Point Omnidirectional Camera Calibration from Planar Grids. In IEEE International Conference on Robotics and Automation, Roma, Italy, Avril 2007.
• C. Mei, P. Rives. Calibration between a Central Catadioptric Camera and a Laser Range Finder for Robotics Applications. In IEEE International Conference on Robotics and Automation, Orlando, USA, Mai 2006.

Visual Odometry

• M. Meilland, A.I. Comport, P. Rives. Real-time Direct Model-based Tracking under Large Lighting variations. In British Machine Vision Conference, University of Dundee, Scotland, Septembre 2011.
• A. I. Comport, E. Malis, P. Rives. Real-time quadrifocal visual odometry. Int. Journal of Robotics Research, 29(2):245-266, 2010.
• H. Hadj-Abdelkader, E. Malis, P. Rives. Spherical Image Processing for Accurate Visual Odometry with Omnidirectional Cameras. In 8th Workshop on Omnidirectional Vision, (Omnivis), Marseille, France, Octobre 2008.
• N. Simond, P. Rives. Trajectography of an Uncalibrated Stereo Rig in Urban Environments. In IEEE/RSJ International Conference on Intelligent Robots Systems, Volume, Sendai, Japan, Septembre 2004.

2D visual tracking

• C. Mei, S. Benhimane, E. Malis, P. Rives. Constrained Multiple Planar Template Tracking for Central Catadioptric Cameras. In British Machine Vision Conference, 17th BMVC, Edinburg, Scotland, 2006.
• A. Comport, E. Malis, P. Rives. Accurate Quadrifocal Tracking for Robust 3D Visual Odometry. In IEEE International Conference on Robotics and Automation, Rome, Italy, Avril 2007.

3D Localization and mapping

Appearance-based methods

• M. Meilland, A.I. Comport, P. Rives. Dense visual mapping of large scale environments for real-time localisation. In IEEE Conference on Intelligent Robots and Systems, IROS'11, San Fransisco, USA, Septembre 2011.
• G. Gallegos, M. Meilland, P. Rives, A. I. Comport. Appearance-Based SLAM Relying on a Hybrid Laser/Omnidirectional Sensor. In IEEE/RSJ International Conference on Intelligent Robots Systems (IROS), Taipe, Taiwan, Octobre 2010.
• G. Silveira, E. Malis, P. Rives. An efficient direct approach to visual SLAM. IEEE Transactions on Robotics, (Special issue on Visual Slam), 2008.

Feature-based methods

• C. Joly, P. Rives. Bearing-only SAM Using a Minimal Inverse Depth Parametrization: Application to Omnidirectional SLAM. In ICINCO'10, Funchal, Portugal, Juin 2010.
• C. Joly, P. Rives. Builiding Consistent Local Submaps with omnidirectional SLAM. In 9th Workshop on Omnidirectional Vision, (Omnivis), Kyoto, Japan, Octobre 2009.
• N. Simond, P. Rives. What can be done with an embedded stereo-rig in urban environments?. Robotics and Autonomous Systems, 56(9):777-789, 2008.

Topological and semantic representations

• A. Chapoulie, P. Rives, D. Filliat. Topological segmentation of indoors/outdoors sequences of spherical views. In IEEE Conference on Intelligent Robots and Systems, IROS'12, Vilamoura, Algarve, Portugal, 2012.
• A. Chapoulie, P. Rives, D. Filliat. A Spherical Representation for Efficient Visual Loop Closing. In Proceedings of the 11th workshop on Omnidirectional Vision, Camera Networks and Non-classical Cameras (OMNIVIS 2011), Barcelone, Spain, Novembre 2011.

Visual servoing

• E. Malis, Y. Mezouar, P. Rives. Robustness of image-based visual servoing with a calibrated camera in the presence of uncertainties in the 3d structure. IEEE Transactions on Robotics, 26(1):112-120, 2010.
• J. R. Azinheira, P. Rives. Image-based Visual Servoing for Vanishing Features and Ground Lines Tracking: Application to a UAV Automatic Landing. International Journal of Optomechatronics, Special issue on visual servoing, 2(3), 2008.
• G. Silveira, E. Malis, P. Rives. The Efficient E-3D Visual Servoing. International Journal of Optomechatronics, Special issue on visual servoing, 2(3), 2008.
• G. Silveira, E. Malis, P. Rives. Visual Servoing over Unknown, Unstructured Large-scale Scenes. In IEEE International Conference on Robotics and Automation, Orlando, USA, Mai 2006.
• P. Rives. Visual Servoing Based on Epipolar Geometry. In IEEE Int. Conf. on Intelligent Robots and Systems, IROS2000, Takamatsu, Japan, 2000.
• D.P. Tsakiris, P. Rives, C. Samson. Extending Visual Servoing Techniques to Nonholonomic Mobile Robots. In The Confluence of Vision and Control, Lecture Notes in Control and Information System, Kriegman, Hager and Morse (Ed.), Springer-Verlag, 1998.
• B. Espiau, F. Chaumette, P. Rives. A New Approach to Visual Servoing in Robotics. IEEE Transactions on Robotics and Automation, 8(3):313-326, 1992.

Autonomous navigation

Indoors

• A. Victorino, P. Rives, J.-J. Borrelly. Safe Navigation for Indoor Mobile Robots,PartI: A Sensor-Based Navigation Framework. Int. Journal of Robotics Research, 22(12):1005-1019, 2003.
• A. Victorino, P. Rives, J.-J. Borrelly. Safe Navigation for Indoor Mobile Robots,PartII: Exploration, Self-Localization and Map Building. Int. Journal of Robotics Research, 22(12):1019-1041, 2003.

Intelligent Vehicles

• M. Meilland, P. Rives, A. I. Comport. Dense RGB-D mapping of large scale environments for real-time localisation and autonomous navigation. In Intelligent Vehicle (IV'12) Workshop on Navigation, Perception, Accurate Positioning and Mapping for Intelligent Vehicles, Alcalá de Henares, Spain, 2012.
• M. Meilland, A. I. Comport, P. Rives. A Spherical Robot-Centered Representation for Urban Navigation. In IEEE/RSJ International Conference on Intelligent Robots Systems (IROS), Taipe, Taiwan, Octobre 2010.
• S. Benhimane, E. Malis, P. Rives, J. R. Azinheira. Vision-based Control for Car Platooning using Homography Decomposition. In IEEE International Conference on Robotics and Automation, Pages 2173-2178, Barcelona, Spain, Avril 2005.
• F. Jurie, P. Rives, J. Gallice, J.L. Brame. High Speed Vehicle Guidance Based on Vision. IFAC Journal in Control Engineering Practice, 2(2):289-299, 1994.

Aerial and underwater robotics

• T. Goncalves, J. R. Azinheira, P. Rives. Homography-based Visual Servoing of an Aircraft for Automatic Approach and Landing. In IEEE International Conference on Robotics and Automation, Anchorage, USA, Mai 2010.
• J. R. Azinheira, P. Rives. Image-based Visual Servoing for Vanishing Features and Ground Lines Tracking: Application to a UAV Automatic Landing. International Journal of Optomechatronics, Special issue on visual servoing, 2(3), 2008.
• P. Rives, J.J. Borrelly. Visual Servoing Techniques Applied to an Underwater Vehicle. In IEEE Int. Conf. on Robotics ans Automation, Albuquerque, USA, 1997.

Active Perception

• V. Brandou, A-G. Allais, M. Perrier, E. Malis, P. Rives. Active stereovision using invariant visual servoing. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Beijing, China, Octobre 2006.
• P. Rives, R. Pissard-Gibollet, L. Pelletier. Sensor-based Tasks: From the Specification to the Control Aspects. In 6th Int. Symposium on Robotics and Manufacturing, Montpellier, France, 1996.
• D. Djian, P. Rives, P. Probert. Training Bayes Nets for Model-Based Recognition. In 4th Int. Conference on Control, Automation, Robotics and Vision, Westin Stamford, Singapore, 1996.
• D. Djian, P. Probert, P. Rives. Active Sensing using Bayes Nets. In 7th Int. Conf. on Advanced Robotics, Sant Feliu de Guixols, Spain, 1995.

Software

DESlam (Dense Egocentric SLAM)

This software is composed in two modules. The first one allows to provide a dense 3D map of an unknown environment using a direct visual slam method based on multi-cameras. The second allows real time visual navigation inside the map from a vehicle equipped with a monocular camera.

55000 lines of C++, this software was realised during the Maxime Meilland's PhD funded by the national ANR project CityVIP.

Referenced at APP (Association de Protection des Programmes) under the patent IDDN.FR.001.320001.000.S.P.2012.000.21000