This research is carried out within the French National Project ANR PREDIT CityVIP. My work is aimed at real-time localisation and mapping for autonomous navigation of an urban vehicule. Some associated publications are:

Some first results on autonomous navigation in real-world urban environments are available in the following videos (please click on the images):

Autonomous Navigation:

Learning Phase:

Comport, A. I., Meilland, M. & Rives, P (2011).  A Real-Time Dense Visual Localisation and Mapping System. In Live Dense  Reconstruction with Moving Cameras Workshop (LDRMC/ICCV), 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.
Meilland, M., Comport, A. I. & Rives, P (2011). Real-time Dense Visual Tracking under Large Lighting Variations. In British Machine Vision Conference. University of Dundee.
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. Taipei, Taiwan.
Gallegos, G., Meilland, M., Comport, A. I. & Rives, P (2010). Appearance-Based SLAM Relying on a Hybrid Laser/Omnidirectional Sensor. In IEEE/RSJ International Conference on Intelligent Robots and Systems. Taipei, Taiwan.