APPLICATIONS ARE NOW CLOSED
Real-time dense localisation and mapping
for autonomous traversal of un-even ground
The computer vision and robotics group at the CNRS-I3S, Sophia-Antipolis, France is seeking an outstanding Postdoctoral candidate.
The position is under the supervision of Dr. Andrew Comport and and is associated with a project developing new techniques in real-time Simultaneous Localisation and Mapping (SLAM) using RGB-D sensors. The principal objective of this project will be to develop a localisation module which produces a 6D (position and orientation) position of a camera during the displacement of a mobile robot. This localisation will allow a control module to traverse un-even terrain and obstacles in an autonomous manner. The localisation will be carried out by estimating the motion of the platform using both photometric texture information and geometric measurements of the immediate environment around the robot. A fusion step is also to be considered which will integrate data from an embedded inertial sensor. Another objective of this project will be to develop a module which produces a 3D representaiton of the environement. This model will be augmented with information that is necessary for generating the movement of the robot like, for example, accesible zones in the environment for the robot or the geometric simplification of the scene using planar regions. Both the localisation and mapping phases will be integrated into a coupled real-time process.
This project aims to apply these techniques to the Caméléon mobile robot (see above image) designed by ECA. This will involve working closely with their platform and using compatible open source software such as ROS and OpenCV.
The candidate for the Postdoc position is expected to have a PhD degree in computer vision or visual servoing. Strong programming skills in C, C++, MATLAB or equivalent are required. Applicants demonstrating excellence in other related areas are encouraged to apply. International applications are encouraged. The salary is 2300-2500 Euro/month gross and will be indexed with inflation. The three year project is due to begin early in 2012.
If you are interested in this position please contact :
Dr. Andrew Comport - firstname.lastname@example.org
and join a CV including at least two referees and a motivation letter.
Some related references include:
 Comport, A. I., Malis, E. & Rives, P (2007). Accurate Quadri-focal Tracking for Robust 3D Visual Odometry. In IEEE International Conference on Robotics and Automation, ICRA'07. Rome, Italy.
 Tykkälä, T. M. & Comport, A. I (2011). Direct Iterative Closest Point for Real-time Visual Odometry. In The Second international Workshop on Computer Vision in Vehicle Technology: From Earth to Mars in conjunction with the International Conference on Computer Vision. Barcelona, Spain.
 Meilland, M., Comport, A. I. & Rives, P (2011). Dense visual mapping of large scale environments for real-time localisation. In IEEE/RSJ International Conference on Intelligent Robots and Systems. San Francisco, California.
 Kurt Konolige, Motilal Agrawal: FrameSLAM: From Bundle Adjustment to Real-Time Visual Mapping. IEEE Transactions on Robotics 24(5): 1066-1077 (2008)
 Meilland, M., Comport, A. I. & Rives, P (2010). A Spherical Robot-Centered Representation for Urban Navigation. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'10. Taipei, Taiwan.
 Richard A. Newcombe and Andrew J. Davison. Live Dense Reconstruction with a Single Moving Camera. IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2010)