976 citations · 3.1k across the 18 of their papers we have counts for
20 papers
Memory Management for Real-Time Appearance-Based Loop Closure Detection
Mathieu Labbé, François Michaud
Loop closure detection is the process involved when trying to find a match between the current and a previously visited locations in SLAM. Over time, the amount of time required to…
Online Global Loop Closure Detection for Large-Scale Multi-Session Graph-Based SLAM
Mathieu Labbe, François Michaud
For large-scale and long-term simultaneous localization and mapping (SLAM), a robot has to deal with unknown initial positioning caused by either the kidnapped robot problem or mul…
Appearance-Based Loop Closure Detection for Online Large-Scale and Long-Term Operation
Mathieu Labbé, François Michaud
In appearance-based localization and mapping, loop closure detection is the process used to determinate if the current observation comes from a previously visited location or a new…
RTAB-Map as an Open-Source Lidar and Visual SLAM Library for Large-Scale and Long-Term Online Operation
Mathieu Labbé, François Michaud
Distributed as an open source library since 2013, RTAB-Map started as an appearance-based loop closure detection approach with memory management to deal with large-scale and long-t…
Long-Term Online Multi-Session Graph-Based SPLAM with Memory Management
Mathieu Labbé, François Michaud
For long-term simultaneous planning, localization and mapping (SPLAM), a robot should be able to continuously update its map according to the dynamic changes of the environment and…
Fast Cross-Correlation for TDoA Estimation on Small Aperture Microphone Arrays
François Grondin, Marc-Antoine Maheux, Jean-Samuel Lauzon +2
This paper introduces the Fast Cross-Correlation (FCC) method for Time Difference of Arrival (TDoA) Estimation for pairs of microphones on a small aperture microphone array. FCC re…
ODAS: Open embeddeD Audition System
François Grondin, Dominic Létourneau, Cédric Godin +5
Artificial audition aims at providing hearing capabilities to machines, computers and robots. Existing frameworks in robot audition offer interesting sound source localization, tra…
Multi-Session Visual SLAM for Illumination Invariant Re-Localization in Indoor Environments
Mathieu Labbé, François Michaud
For robots navigating using only a camera, illumination changes in indoor environments can cause re-localization failures during autonomous navigation. In this paper, we present a…
Dynamic Object Tracking and Masking for Visual SLAM
Jonathan Vincent, Mathieu Labbé, Jean-Samuel Lauzon +3
In dynamic environments, performance of visual SLAM techniques can be impaired by visual features taken from moving objects. One solution is to identify those objects so that their…
3D Localization of a Sound Source Using Mobile Microphone Arrays Referenced by SLAM
Simon Michaud, Samuel Faucher, François Grondin +5
A microphone array can provide a mobile robot with the capability of localizing, tracking and separating distant sound sources in 2D, i.e., estimating their relative elevation and…
GEV Beamforming Supported by DOA-based Masks Generated on Pairs of Microphones
Francois Grondin, Jean-Samuel Lauzon, Jonathan Vincent +1
Distant speech processing is a challenging task, especially when dealing with the cocktail party effect. Sound source separation is thus often required as a preprocessing step prio…
Lightweight and Optimized Sound Source Localization and Tracking Methods for Open and Closed Microphone Array Configurations
Francois Grondin, Francois Michaud
Human-robot interaction in natural settings requires filtering out the different sources of sounds from the environment. Such ability usually involves the use of microphone arrays…
Cheap or Robust? The Practical Realization of Self-Driving Wheelchair Technology
Maya Burhanpurkar, Mathieu Labbé, Xinyi Gong +3
To date, self-driving experimental wheelchair technologies have been either inexpensive or robust, but not both. Yet, in order to achieve real-world acceptance, both qualities are…
Robust 3D Localization and Tracking of Sound Sources Using Beamforming and Particle Filtering
Jean-Marc Valin, François Michaud, Jean Rouat
In this paper we present a new robust sound source localization and tracking method using an array of eight microphones (US patent pending) . The method uses a steered beamformer b…
Microphone array post-filter for separation of simultaneous non-stationary sources
Jean-Marc Valin, Jean Rouat, François Michaud
Microphone array post-filters have demonstrated their ability to greatly reduce noise at the output of a beamformer. However, current techniques only consider a single source of in…
Enhanced Robot Audition Based on Microphone Array Source Separation with Post-Filter
Jean-Marc Valin, Jean Rouat, François Michaud
We propose a system that gives a mobile robot the ability to separate simultaneous sound sources. A microphone array is used along with a real-time dedicated implementation of Geom…
Localization of Simultaneous Moving Sound Sources for Mobile Robot Using a Frequency-Domain Steered Beamformer Approach
Jean-Marc Valin, François Michaud, Brahim Hadjou +1
Mobile robots in real-life settings would benefit from being able to localize sound sources. Such a capability can nicely complement vision to help localize a person or an interest…
Robust Sound Source Localization Using a Microphone Array on a Mobile Robot
Jean-Marc Valin, François Michaud, Jean Rouat +1
The hearing sense on a mobile robot is important because it is omnidirectional and it does not require direct line-of-sight with the sound source. Such capabilities can nicely comp…
Robust Localization and Tracking of Simultaneous Moving Sound Sources Using Beamforming and Particle Filtering
Jean-Marc Valin, François Michaud, Jean Rouat
Mobile robots in real-life settings would benefit from being able to localize and track sound sources. Such a capability can help localizing a person or an interesting event in the…
Robust Recognition of Simultaneous Speech By a Mobile Robot
Jean-Marc Valin, Shun'ichi Yamamoto, Jean Rouat +3
This paper describes a system that gives a mobile robot the ability to perform automatic speech recognition with simultaneous speakers. A microphone array is used along with a real…