Acronym NARVAL
Funding Reference EU-FP5-Esprit LTR Project -30185
Dates 1998|2001
Summary

The goal of this project is to develop non-intruding and reliable navigation systems giving the robot the ability to select natural landmarks, and to navigate with respect to them, extending in this way the autonomy range of autonomous robots operating in unknown and unstructured environments. Reliability is achieved by continuously controlling the uncertainty associated with knowledge of the environment and of the robot’s position and orientation. In the context of the project, non-intrusiveness means that the robot must be able to operate without special purpose landmarks being added to its environment. Non-intrusive operation in unstructured environments precludes navigation with respect to a set of handcrafted landmarks, and requires the robot’s ability to infer its position from learned natural landmarks of the environment using its perception system. Instead of passive reconstruction of the working space, perception is faced as a process of selectively extracting from the world the information needed to accomplish a given task, trading generality for specificity and gaining in simplicity and robustness. It is no longer a separate off-line module, but an integral part of the closed loop control system. This coupling will be explicitly addressed at the control level by assessing the compatibility of the current state of the robot’s knowledge of its environment, its mission and safety requirements. Availability of such systems has a considerable impact in many economic, social and industrial activities such as control of marine pollution, surveillance of restricted areas, surveillance of equipment, agriculture, underwater cartography and marine biology studies, to mention but a few.

Research Groups Computer and Robot Vision Lab (VisLab)
Signal and Image Processing Group (SIPG)
Project Partners I3S (Laboratoire de Informatique, Signaux e Systèmes de Sophia Antipolis – CNRS - Université de Nice Sophia Antipolis) (FR), Thomson Sintra ASM (FR), DIST - University of Genova (I)
ISR/IST Responsible
José Santos-Victor
People
Alexandre Bernardino
Isabel Lourtie
[1] M. Joao Rendas, J. Y. Tigli, L. Pronzato, M. C. Thomas, M. Ribo, José Santos-Victor, Isabel Lourtie, Alexandre Bernardino, Uncertainty Modeling and Perceptual Guiding for Safe Operation in Unknown Environments, International Journal of Intelligent Control Systems, World Scientific Publishing Company, Vol 2(2), pp. 253-285, 1998 - PDF
[2] Nuno Gracias, José Santos-Victor, Robust Estimation of the Fundamental Matrix and Stereo Correspondences, 5th International Symposium on Intelligent Robotic Systems - SIRS97, Stockholm, Sweden, 1997 - PDF
[3] Nuno Gracias, José Santos-Victor, Underwater video mosaics as visual navigation maps, Computer Vision and Image Understanding, Vol 79(1) pp. 66-91, 2000 - PDF
[4] Sjoerd van der Zwaan, Alexandre Bernardino, José Santos-Victor, Vision based station keeping and docking for an Aerial blimp, Intl Conference on Intelligent Robots and Systems IROS'2000, Kagawa University, Takamatsu, Japan, 2000 - PDF
[5] Sjoerd van der Zwaan, Matteo Perrone, Alexandre Bernardino, José Santos-Victor, Control of an Aerial blimp based on visual input, 8th International Symposium on Intelligent Robotic Systems - SIRS2000 - Reading, UK, 2000 - PDF
[6] Etienne Grossmann, José Santos-Victor, Uncertainty Analysis of 3D Reconstruction from Uncalibrated Views, Image and Vision Computing, 18(9), Elsevier, 2000 - PDF
[7] Cesar Silva, José Santos-Victor, Intrinsic Images for Dense Stereo Matching with Occlusions, European Conference on Computer Vision, Dublin, Ireland, 2000 - PDF
[8] Etienne Grossmann, José Santos-Victor, Dual Representations for Vision-Based 3D Reconstruction, British Machine Vision Conference, Bristol, UK, 2000 - PDF
[9] José Santos-Victor, Nuno Gracias, Trajectory Reconstruction with Uncertainty Estimation using Mosaic Registration, Robotics and Autonomous Systems, Elsevier, 35(3-4), 2001
[10] S. van der Zwaan, Alexandre Bernardino, José Santos-Victor, Vision based station keeping and docking for floating vehicles, European Control Conference, ECC2001, Porto, Portugal, 2001 - PDF
[11] José Santos-Victor, Visual Servoing of Cellular Robots, European Control Conference, ECC2001, Porto, Portugal, 2001 - PDF
[12] José Santos-Victor, N. Gracias, S. van der Zwaan, Using vision for underwater robotics: video mosaics and station keeping!, 1st International Workshop on Underwater robotics for Sea Exploitation and Environmental Monitoring, Rio de Janeiro, Brasil, 2001 - PDF
[13] N. Gracias, José Santos-Victor, Underwater Mosaicing and Trajectory Reconstruction using Global Alignement, IEEE OCEANS 2001, Honolulu, 2001 - PDF
[14] S. van der Zwaan, José Santos-Victor, Real-time Vision-based Station Keeping for Underwater Robots, IEEE OCEANS 2001, Honolulu, 2001 - PDF
[15] F. Panerai, G. Metta, G. Sandini, Learning VOR-like stabilization reflexes in robots, 8th European Symposium on Artificial Neural Networks, (ESANN 2000), Bruges, Belgium, 2000
[16] N. Gracias, José Santos-Victor, Trajectory Reconstruction with Uncertainty Estimation Using Mosaic Registration, Robotics and Autonomous Systems (SIRS´99 special issue), 2000 - PDF
[17] Nuno Gracias, José Santos-Victor, Trajectory Reconstruction Using Mosaic Registration, 7th International Symposium on Intelligent Robotic Systems - SIRS99, Coimbra, Portugal, 1999 - PDF
[18] M. Joao Rendas, Stefan Rolfes, Safe Navigation for Uncertain Environments, Journal of Autonomous Systems, Elsevier, 1999
[19] M. Joao Rendas, Stefan Rolfes, Autonomous Large Scale Open Field Navigation: scaling experiments with a mini-robot, 1st International Kheepera Workshop, (IKW´99), Paderborn, Germany, 1999
[20] F. Panerai, G. Metta, G. Sandini, Visuo-inertial Stabilization in Space-variant Binocular Systems, Robotics and Autonomous Systems, Special issue on Biomimetic Robotics, 1999
[21] M. Joao Rendas, Stefan Rolfes, Using Non-linear Filtering Techniques for Robot Localization in Sparse Environments Using Perception Sensors, 7th International Symposium on Intelligent Robot Systems (SIRS´99), Coimbra, Portugal, 1999
[22] F. Panerai, G. Metta, G. Sandini, An artificial vestibular system for reflex-control of robot eye movements, 3rd International Conference on Cognitive and Neural Systems, Boston, USA, 1999
[23] F. Panerai, G. Metta, G. Sandini, R. Manzotti, Learning head-eye-hand coordination: a developmental approach, 3rd International Conference on Cognitive and Neural Systems, Boston, USA, 1999
[24] F. Panerai, G. Metta, G. Sandini, Vision and motor control: a bioengineering perspective, Workshop on Robust Vision and Industrial Applications, Steyr, Austria, 1999
[25] X. M. Sauvan, F. Panerai, G. Sandini, Multimodal integration and visuomotor interaction in a primate-like robot, Presented at the Workshop "Navigation in Biological and Artificial Systems" in Tuebingen, Germany, 1999
[26] M. Joao Rendas, Isabel Lourtie, Temporal combination of positioning modes for AUV navigation in perturbed environments, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS´98), pp. 1107-1112, Victoria, Canada, 1998
[27] Nuno Gracias, José Santos-Victor, Automatic Mosaic Creation of the Ocean Floor, IEEE OCEANS 98, Nice, France, 1998 - PDF
[28] Nathalie Vasquez, M. Joao Rendas, Using a priori Current Knowledge on AUV Navigation, OCEANS´98, Nice, France, 1998
[29] M. Joao Rendas, Emmanuel Turcci, AUV Mission Preparation as a Multi-criteria Optimization Problem Using Statistical Performance Prediction, OCEANS´98, Nice, France, 1998
[30] M. Joao Rendas, Isabel Lourtie, AUV Navigation: Increased Robustness and Observability by Fusion of Active and Passive Modes, Proc. OCEANS´98, pp. 347-351, Nice, France, 1998
[31] F. Panerai, G. Sandini, Oculo-Motor Stabilization Reflexes: Integration of Inertial and Visual Information, Neural Networks, V11(7/8), Special issue on "Neural Control and Robotics: Biology and Technology", 1998