Home page


Dr. Minh Duc HUA (view CV here)
Chargé de Recherche (CR1) CNRS
Member of SIS team
Project: OSCAR

Adresse: Laboratoire I3S
               2000 route des Lucioles
               Les Algorithmes - Euclide B, BP121
               06903 Sophia Antipolis, France

Email: hua(at)i3s.unice.fr
Google Scholar: view here
Researchgate: view here

 
Headline News

Submitted CDC'2019 paper "A homography-based dynamic control approach of Autonomous Underwater Vehicles observing a (near) vertical target without linear velocity measurements" (L.-H. Nguyen, M.-D. Hua, T. Hamel).

 
  • Software/Library HomographyLab Version 1.0 (Proprietary Licence) is released (Contact me for more information). Check here
  • Website for Astrid CONGRE project available at https://www.i3s.unice.fr/congre
  • ROS driver for DVL Nortek 1000 successfully written by our team (Well done Ninad!).
  • Submitted CDC'2019 paper "A homography-based dynamic control approach of Autonomous Underwater Vehicles observing a (near) vertical target without linear velocity measurements" (L.-H. Nguyen, M.-D. Hua, T. Hamel).
  • Accepted ECC'2019 paper "A nonlinear control approach for trajectory tracking of slender-body axisymmetric underactuated underwater vehicles" (L.-H. Nguyen, M.-D. Hua, T. Hamel).
  • Automatica journal paper "Nonlinear observer design on SL(3) for homography estimation by exploiting point and line correspondences with application to image stabilization" (M.-D. Hua, J. Trumpf, T. Hamel, R. Mahony, P. Morin) "provisionally accepted" as Regular Paper.
  • Submitted journal paper "A homography-based dynamic control approach applied to station keeping of autonomous underwater vehicles without linear velocity measurements" (L.-H. Nguyen, M.-D. Hua, G. Allibert, T. Hamel) to IEEE Transactions on Control Systems Technology.
  • Submitted journal paper "Homography estimation of a moving planar scene from direct point correspondence" (S. de Marco, M.-D. Hua, T. Hamel, R. Mahony) to IEEE Transactions on Control Systems Technology.
 
 
 

Highlighted Activities in 2018
  • Astrid CONGRE project (I'm coordinator), partners: I3S, LIRMM, ALSEAMAR, 2019-2021.
  • Selected as Outstanding Reviewer of the journal Automatica for the year 2017.
  • Journal paper "Feature-based Recursive Observer Design for Homography Estimation and its Application to Image Stabilization" (M.-D. Hua, J. Trumpf, T. Hamel, R. Mahony, P. Morin), Special Issue "Recent Advances on Data Fusion, Estimation in Navigation and Control", Asian Journal of Control, 2019.
  • Journal paper "Pipeline following by visual servoing for Autonomous Underwater Vehicles" (G. Allibert, M.-D. Hua, S. Krupinski, T. Hamel), Control Engineering Practice (CEP), 2019.
  • Submitted journal paper "Nonlinear observer design on SL(3) for homography estimation by exploiting point and line correspondences with application to image stabilization" (M.-D. Hua, J. Trumpf, T. Hamel, R. Mahony, P. Morin) to Automatica.
  • Co-chair CCTA invited Session "Observer Design for Navigation of Autonomous Vehicles" (organized with P. Batista).
  • CCTA paper "Riccati Observer Design for Pose, Linear Velocity and Gravity Direction Estimation using Landmark Position and IMU Measurements" (M.-D. Hua, G. Allibert).
  • CDC paper "Homography estimation of a moving planar scene from direct point correspondence" (S. de Marco, M.-D. Hua, R. Mahony, T. Hamel).
  •  
  • ECC paper "Homography Observer Design on Special Linear Group SL(3) with Application to Optical Flow Estimation" (N. Manerikar, M.-D. Hua, T. Hamel).
  • ICRA paper "Attitude, Linear Velocity and Depth Estimation of a Camera observing a planar target using continuous homography and inertial data" (M.-D. Hua, N. Manerikar, T. Hamel, C. Samson).
  • Submitted ECC'2019 paper "A nonlinear control approach for trajectory tracking of slender-body axisymmetric underactuated underwater vehicles" (L.-H. Nguyen, M.-D. Hua, T. Hamel).
 
SOME DEMO :  view here
  • Demo "homography-based stabilization of our AUV without linear velocity measurements"  Demo (credit to Lam Hung Nguyen)
  • Demo "real-time gyro-aided homography estimation"  Demo1, Demo2 (credit to Ninad Manerikar)
  • Demo for paper "Explicit Complementary Observer Design on Special Linear Group SL(3) for Homography Estimation using Conic Correspondences" (CDC17) at http://goo.gl/8wFGb5
  • Demo for paper "Point and line feature-based observer design on SL(3) for Homography estimation and its application to image stabilization" at https://youtu.be/hlTkzjyENhg



  Web Counter