976 citations · 3.1k across the 18 of their papers we have counts for
13 papers · 1 filter
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…
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…
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…
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…