François Pomerleau

François Pomerleau

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francois.pomerleau@ift.ulaval.ca

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François Pomerleau made his debut in research by interacting with the Canadian Space Agency and the European Space Agency during his studies in computer engineering at Sherbrooke University. He got his Master’s degree (François Michaud’s Lab) from this university in 2009 after a one-year stay at EPFL (Roland Siegwart Lab - Switzerland) where he worked on an autonomous car prototype. He completed his Ph.D. at ETH Zurich (Roland Siegwart’s Lab- Switzerland) in 2013 during which he participated in several robotic deployments in uncontrolled environments, including work with European fire brigades and in alpine lakes. After technology transfer activities at Alstom Inspection Robotics and a stay at Université Laval (Philippe Giguère’s Lab), he received a postdoctoral fellowships from the Natural Sciences and Engineering Research Council of Canada to continue his research at the University of Toronto in Mobile Robotics (Tim Barfoot’s Lab). He continued his technological transfer activities as a postdoctoral researcher at Université Laval in the Robotics Laboratory (Clément Gosselin’s lab) and worked, in collaboration with the Robotiq company, to develop the Industry 4.0. Since September 2017, he is a professor in the Computer Science and Software Engineering Department at Université Laval.

His research interests include 3D reconstruction of environments using laser data, autonomous navigation, search and rescue activities, environmental monitoring, trajectory planning and scientific methodology applied to robotics.

Education

Scientific Services

  • Associate Editor for the journal IEEE Robotics and Automation Letters (RA-L)
  • Associate Editor for the journal Frontiers in Robotics and AI
  • Associate Editor for the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • International program committee member for the Conference on Field and Service Robotics (FSR)
  • International program committee member for the Conference on Computer and Robot Vision (CRV)
  • Special issue editor for the Journal of Field Robotics Volume 34, Issue 1
  • Regular reviewer for international journals and conferences (e.g., ICRA, IROS, CRV, FSR, JFR, RA-L, TMECH, IJRR, Autonomous Robot)

Associations

  • Senior Member of Institute of Electrical and Electronic Engineers (IEEE)
  • P.Eng., Member of the Order of Engineering of Quebec (OIQ)
  • Distal fellow of the NSERC Canadian Robotics Network (NCRN)
  • Member of the NSERC-CREATE program on collaborative robotics (CoRoM)
  • Member of Research center of robotics, vision and artificial intelligence (CeRVIM)
  • Member of Strategic center of distributed intelligent and shared environments (REPARTI)

Publications

Journal Articles

  1. Ebadi, K., Bernreiter, L., Biggie, H., Catt, G., Chang, Y., Chatterjee, A., Denniston, C. E., Deschênes, S.-P., Harlow, K., Khattak, S., Nogueira, L., Palieri, M., Petráček, P., Petrlík, M., Reinke, A., Krátký, V., Zhao, S., Agha-Mohammadi, A.-A., Alexis, K., … Carlone, L. (2023). Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge. IEEE Transactions on Robotics (T-RO). https://doi.org/10.1109/TRO.2023.3323938
     Publisher    Bibtex source
  2. Grondin, V., Fortin, J.-M., Pomerleau, F., & Giguère, P. (2022). Tree Detection and Diameter Estimation Based on Deep Learning. Forestry: An International Journal of Forest Research, 96(2), 264–276. https://doi.org/10.1093/forestry/cpac043
     Publisher    Bibtex source
  3. Rouček, T., Pecka, M., Čížek, P., Petříček, T., Bayer, J., Šalanský, V., Azayev, T., Heřt, D., Petrlík, M., Báča, T., Spurný, V., Krátký, V., Petráček, P., Baril, D., Vaidis, M., Kubelka, V., Pomerleau, F., Faigl, J., Zimmermann, K., … Krajník, T. (2022). System for multi-robotic exploration of underground environments CTU-CRAS-NORLAB in the DARPA Subterranean Challenge. Field Robotics, 2(1), 1779–1818. https://doi.org/10.55417/fr.2022055
     Publisher    Bibtex source
  4. Baril, D., Deschênes, S.-P., Gamache, O., Vaidis, M., LaRocque, D., Laconte, J., Kubelka, V., Giguère, P., & Pomerleau, F. (2022). Kilometer-scale autonomous navigation in subarctic forests: challenges and lessons learned. Field Robotics, 2(1), 1628–1660. https://doi.org/10.55417/fr.2022050
     PDF    Publisher    Bibtex source
  5. Laconte, J., Kasmi, A., Pomerleau, F., Chapuis, R., Malaterre, L., Debain, C., & Aufrère, R. (2021). A Novel Occupancy Mapping Framework for Risk-Aware Path Planning in Unstructured Environments. Sensors, 21(22), 7562.
     Bibtex source
  6. Chahine, G., Vaidis, M., Pomerleau, F., & Pradalier, C. (2021). Mapping in unstructured natural environment: A sensor fusion framework for wearable sensor suites. SN Applied Sciences, 3(5).
     Bibtex source
  7. Kubelka, V., Dandurand, P., Babin, P., Giguère, P., & Pomerleau, F. (2020). Radio propagation models for differential GNSS based on dense point clouds. Journal of Field Robotics. https://doi.org/10.1002/rob.21988
     Publisher    Bibtex source
  8. Tremblay, J.-F., Béland, M., Pomerleau, F., Gagnon, R., & Giguère, P. (2020). Automatic 3D Mapping for Tree Diameter Measurements in Inventory Operations. Journal of Field Robotics. https://doi.org/10.1002/rob.21980 Special issue: Field and Service Robotics
     Publisher    Bibtex source
  9. Labussière, M., Laconte, J., & Pomerleau, F. (2020). Geometry Preserving Sampling Method based on Spectral Decomposition for Large-scale Environments. Frontiers in Robotics and AI – Multi-Robot Systems, 7, 134. https://doi.org/10.3389/frobt.2020.572054
     Publisher    Bibtex source
  10. McGarey, P., Yoon, D., Tang, T., Pomerleau, F., & Barfoot, T. D. (2018). Field Report: Developing and Deploying a Tethered Robot to Map Extremely Steep Terrain. Journal of Field Robotics, 35(8), 1327–1241.
     Bibtex source
  11. Paton, M., Pomerleau, F., MacTavish, K., Ostafew, C. J., & Barfoot, T. D. (2017). Expanding the Limits of Vision-based Localization for Long-term Route-following Autonomy. Journal of Field Robotics, 34(1), 98–122.
     Bibtex source
  12. Hitz, G., Galceran, E., Garneau, M.-È., Pomerleau, F., & Siegwart, R. (2017). Adaptive continuous-space informative path planning for online environmental monitoring. Journal of Field Robotics, 34(8), 1427–1449.
     Bibtex source
  13. McGarey, P., MacTavish, K., Pomerleau, F., & Barfoot, T. D. (2017). TSLAM: Tethered simultaneous localization and mapping for mobile robots. The International Journal of Robotics Research, 36(12), 1363–1386. https://doi.org/10.1177/0278364917732639
     Publisher    Bibtex source
  14. Paton, M., Pomerleau, F., & Barfoot, T. D. (2016). In the dead of winter: Challenging vision-based path following in extreme conditions. Springer Tracts in Advanced Robotics, 113, 563–576.
     Bibtex source
  15. Pomerleau, F., Colas, F., & Siegwart, R. (2015). A Review of Point Cloud Registration Algorithms for Mobile Robotics. Foundations and Trends in Robotics, 4(1), 1–104.
     Bibtex source
  16. Krüsi, P., Bücheler, B., Pomerleau, F., Schwesinger, U., Siegwart, R., & Furgale, P. (2015). Lighting-invariant adaptive route following using iterative closest point matching. Journal of Field Robotics, 32(4), 534–564.
     Bibtex source
  17. Kubelka, V., Oswald, L., Pomerleau, F., Colas, F., Svoboda, T., & Reinstein, M. (2015). Robust data fusion of multimodal sensory information for mobile robots. Journal of Field Robotics, 32(4), 447–473.
     Bibtex source
  18. Hitz, G., Pomerleau, F., Colas, F., & Siegwart, R. (2015). Relaxing the planar assumption: 3D state estimation for an autonomous surface vessel. International Journal of Robotics Research, 34(13), 1604–1621.
     Bibtex source
  19. Kruijff, G. J. M., Kruijff-Korbayová, I., Keshavdas, S., Larochelle, B., Janíček, M., Colas, F., Liu, M., Pomerleau, F., Siegwart, R., Neerincx, M. A., Looije, R., Smets, N. J. J. M., Mioch, T., Van Diggelen, J., Pirri, F., Gianni, M., Ferri, F., Menna, M., Worst, R., … Hlaváč, V. (2014). Designing, developing, and deploying systems to support human-robot teams in disaster response. Advanced Robotics, 28(23), 1547–1570.
     Bibtex source
  20. Pomerleau, F., Colas, F., Siegwart, R., & Magnenat, S. (2013). Comparing ICP variants on real-world data sets: Open-source library and experimental protocol. Autonomous Robots, 34(3), 133–148.
     Bibtex source
  21. Garneau, M.-È., Posch, T., Hitz, G., Pomerleau, F., Pradalier, C., Siegwart, R., & Pernthaler, J. (2013). Short-term displacement of \textitPlanktothrix Rubescens (cyanobacteria) in a pre-alpine lake observed using an autonomous sampling platform. Limnology and Oceanography, 58(5), 1892–1906.
     Bibtex source
  22. Pomerleau, F., Liu, M., Colas, F., & Siegwart, R. (2012). Challenging data sets for point cloud registration algorithms. International Journal of Robotics Research, 31(14), 1705–1711.
     Bibtex source
  23. Hitz, G., Pomerleau, F., Garneau, M.-E., Pradalier, C., Posch, T., Pernthaler, J., & Siegwart, R. Y. (2012). Autonomous inland water monitoring: Design and application of a surface vessel. IEEE Robotics and Automation Magazine, 19(1), 62–72.
     Bibtex source
  24. Stumm, E., Breitenmoser, A., Pomerleau, F., Pradalier, C., & Siegwart, R. (2012). Tensor-voting-based navigation for robotic inspection of 3D surfaces using lidar point clouds. International Journal of Robotics Research, 31(12), 1465–1488.
     Bibtex source
  25. Tâche, F., Pomerleau, F., Caprari, G., Siegwart, R., Bosse, M., & Moser, R. (2011). Three-dimensional localization for the MagneBike inspection robot. Journal of Field Robotics, 28(2), 180–203.
     Bibtex source
  26. Michaud, F., Boissy, P., Labonté, D., Brire, S., Perreault, K., Corriveau, H., Grant, A., Lauria, M., Cloutier, R., Roux, M.-A., Iannuzzi, D., Royer, M.-P., Ferland, F., Pomerleau, F., & Létourneau, D. (2010). Exploratory design and evaluation of a homecare teleassistive mobile robotic system. Mechatronics, 20(7), 751–766.
     Bibtex source

Conference Articles

  1. Gamache, O., Fortin, J.-M., Boxan, M., Vaidis, M., Pomerleau, F., & Giguère, P. (2024). Exposing the Unseen: Exposure Time Emulation for Offline Benchmarking of Vision Algorithms. ArXiv Preprint ArXiv:2309.13139, Accepted to the 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). https://doi.org/10.48550/arXiv.2309.13139 Accepted
     Publisher    Bibtex source
  2. LaRocque, D., Guimont-Martin, W., Duclos, D.-A., Giguère, P., & Pomerleau, F. (2024). Proprioception Is All You Need: Terrain Classification for Boreal Forests. ArXiv Preprint ArXiv:2403.16877, Accepted to the 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). https://doi.org/10.48550/arXiv.2403.16877 Accepted
     PDF    Slides    Publisher    Bibtex source
  3. Deschênes, S.-P., Baril, D., Boxan, M., Laconte, J., Giguère, P., & Pomerleau, F. (2024). Saturation-Aware Angular Velocity Estimation: Extending the Robustness of SLAM to Aggressive Motions. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). https://arxiv.org/abs/2310.07844
     PDF    Publisher    Bibtex source
  4. Baril, D., Deschênes, S.-P., Coupal, L., Goffin, C., Lépine, J., Giguère, P., & Pomerleau, F. (2024). DRIVE: Data-driven Robot Input Vector Exploration. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). https://arxiv.org/abs/2309.10718
     Publisher    Bibtex source
  5. Grondin, V., Massicotte, P., Gaha, M., Pomerleau, F., & Giguère, P. (2024, May). Leveraging Prompt-Based Segmentation Models and Large Dataset to Improve Detection of Trees. Proceedings of the Conference on Robots and Vision. https://crv.pubpub.org/pub/it4xxpil
     Publisher    Bibtex source
  6. Vaidis, M., Shahraji, M. H., Daum, E., Dubois, W., Giguère, P., & Pomerleau, F. (2024). RTS-GT: Robotic Total Stations Ground Truthing dataset. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). https://arxiv.org/abs/2309.11935
     Publisher    Bibtex source
  7. Vaidis, M., Dubois, W., Daum, E., LaRocque, D., & Pomerleau, F. (2023). Uncertainty analysis for accurate reference trajectories with robotic total stations. Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS). https://ieeexplore.ieee.org/abstract/document/10341529 Accepted for oral presentation
     Publisher    Bibtex source
  8. Guimont-Martin, W., Fortin, J.-M., Pomerleau, F., & Giguère, P. (2023). MaskBEV: Joint Object Detection and Footprint Completion for Bird’s-eye View 3D Point Clouds. Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS). Accepted for oral presentation
     Bibtex source
  9. Vaidis, M., Dubois, W., Guénette, A., Laconte, J., Kubelka, V., & Pomerleau, F. (2023). Extrinsic calibration for highly accurate trajectories reconstruction. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). https://arxiv.org/abs/2210.01048
     Publisher    Bibtex source
  10. Kubelka, V., Vaidis, M., & Pomerleau, F. (2022). Gravity-constrained point cloud registration. Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), 4873–4879. https://doi.org/10.1109/IROS47612.2022.9981916
     Publisher    Bibtex source
  11. Fortin, J.-M., Gamache, O., Grondin, V., Pomerleau, F., & Giguère, P. (2022). Instance Segmentation for Autonomous Log Grasping in Forestry Operations. Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), 6064–6071. https://doi.org/10.1109/IROS47612.2022.9982286. Finalist for Best Paper Award on Agri-Robotics! Accepted for oral presentation, arXiv preprint arXiv:2203.01902
     Publisher    Bibtex source
  12. Laconte, J., Randriamiarintsoa, E., Kasmi, A., Pomerleau, F., Chapuis, R., Debain, C., & Aufrère, R. (2021). Dynamic Lambda-Field: A Counterpart of the Bayesian Occupancy Grid for Risk Assessment in Dynamic Environments. Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS).
     Bibtex source
  13. Vaidis, M., Giguère, P., Pomerleau, F., & Kubelka, V. (2021). Accurate outdoor ground truth based on total stations. 2021 18th Conference on Robots and Vision (CRV). https://arxiv.org/abs/2104.14396
     PDF    Publisher    Bibtex source
  14. Deschênes, S.-P., Baril, D., Kubelka, V., Giguère, P., & Pomerleau, F. (2021). Lidar Scan Registration Robust to Extreme Motions. 2021 18th Conference on Robots and Vision (CRV). https://doi.org/10.1109/CRV52889.2021.00014
     PDF    Publisher    Bibtex source
  15. Baril, D., Grondin, V., Deschenes, S., Laconte, J., Vaidis, M., Kubelka, V., Gallant, A., Giguere, P., & Pomerleau, F. (2020). Evaluation of Skid-Steering Kinematic Models for Subarctic Environments. 2020 17th Conference on Computer and Robot Vision (CRV), 198–205. https://doi.org/10.1109/CRV50864.2020.00034 Best Robotic Vision Paper Award!
     PDF    Publisher    Bibtex source
  16. Rouček, T., Pecka, M., Cizek, P., Petricek, T., Bayer, J., Salansky, V., Hert, D., Petrlik, M., Baca, T., Spurny, V., Pomerleau, F., Kubelka, V., Faigl, J., Zimmermann, K., Saska, M., Svoboda, T., & Krajnik, T. (2019). DARPA Subterranean Challenge: Multi-robotic exploration of underground environments. Proceeding of the Modelling and Simulation for Autonomous System Workshop (MESAS).
     Bibtex source
  17. Dandurand, P., Babin, P., Kubelka, V., Giguère, P., & Pomerleau, F. (2019). Predicting GNSS satellite visibility from dense point clouds. Proceedings of the Conference on Field and Service Robotics (FSR). Springer Tracts in Advanced Robotics.
     PDF    Bibtex source
  18. Tremblay, J.-F., Béland, M., Pomerleau, F., Gagnon, R., & Giguère, P. (2019). Automatic 3D Mapping for Tree Diameter Measurements in Inventory Operations. Proceedings of the Conference on Field and Service Robotics (FSR). Springer Tracts in Advanced Robotics.
     PDF    Slides    Bibtex source
  19. Pradalier, C., Aravecchia, S., & Pomerleau, F. (2019). Multi-session lake-shore monitoring in visually challenging conditions. Proceedings of the Conference on Field and Service Robotics (FSR). Springer Tracts in Advanced Robotics.
     Bibtex source
  20. Landry, D., Pomerleau, F., & Giguère, P. (2019). CELLO-3D: Estimating the Covariance of ICP in the Real World. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA).
     PDF    Bibtex source
  21. Babin, P., Giguère, P., & Pomerleau, F. (2019). Analysis of Robust Functions for Registration Algorithms. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). https://doi.org/10.1109/ICRA.2019.8793791
     PDF    Publisher    Bibtex source
  22. Babin, P., Dandurand, P., Kubelka, V., Giguère, P., & Pomerleau, F. (2019). Large-scale 3D Mapping of Subarctic Forests. Proceedings of the Conference on Field and Service Robotics (FSR). Springer Tracts in Advanced Robotics.
     PDF    Slides    Bibtex source
  23. Laconte, J., Deschênes, S.-P., Labussière, M., & Pomerleau, F. (2019). Lidar Measurement Bias Estimation via Return Waveform Modelling in a Context of 3D Mapping. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA).
     PDF    Bibtex source
  24. Laconte, J., Debain, C., Chapuis, R., Pomerleau, F., & Aufrere, R. (2019). Lambda-Field: A Continuous Counterpart of the Bayesian Occupancy Grid for Risk Assessment. Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS).
     Bibtex source
  25. Tang, T., Yoon, D., Pomerleau, F., & Barfoot, T. D. (2018). Learning a Bias Correction for Lidar-Only Motion Estimation. Proceedings of the 15th Conference on Computer and Robot Vision (CRV).
     Bibtex source
  26. McGarey, P., Yoon, D., Tang, T., Pomerleau, F., & Barfoot, T. D. (2018). Field Deployment of the Tethered Robotic eXplorer to Map Extremely Steep Terrain. Proceedings of the Conference on Field and Service Robotics (FSR). Springer Tracts in Advanced Robotics, 5, 303–317.
     Bibtex source
  27. Daoust, T., Pomerleau, F., & Barfoot, T. D. (2016). Light at the End of the Tunnel: High-Speed, Lidar-Based Train Localization in Challenging Underground Environments. Proceedings of the 13th Conference on Computer and Robot Vision (CRV). Best Robotic Vision Paper Award!
     Bibtex source
  28. McGarey, P., Mactavish, K., Pomerleau, F., & Barfoot, T. D. (2016). The line leading the blind: Towards nonvisual localization and mapping for tethered mobile robots. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2016-June, 4799–4806.
     Bibtex source
  29. McGarey, P., Pomerleau, F., & Barfoot, T. D. (2016). System design of a tethered robotic explorer (TReX) for 3D mapping of steep terrain and harsh environments. Proceedings of the Conference on Field and Service Robotics (FSR). Springer Tracts in Advanced Robotics, 113, 267–281.
     Bibtex source
  30. Paton, M., Pomerleau, F., & Barfoot, T. D. (2015). Eyes in the Back of Your Head: Robust Visual Teach & Repeat Using Multiple Stereo Cameras. Proceedings of the 12th Conference on Computer and Robot Vision (CRV), 46–53.
     Bibtex source
  31. Hitz, G., Pomerleau, F., Colas, F., & Siegwart, R. (2015). State Estimation for Shore Monitoring Using an Autonomous Surface Vessel. Proceedings of the International Symposium on Experimental Robotics (ISER). Springer Tracts in Advanced Robotics, 745–760.
     Bibtex source
  32. Pomerleau, F., Krüsi, P., Colas, F., Furgale, P., & Siegwart, R. (2014). Long-term 3D map maintenance in dynamic environments. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 3712–3719.
     Bibtex source
  33. Hitz, G., Gotovos, A., Pomerleau, F., Garneau, M.-E., Pradalier, C., Krause, A., & Siegwart, R. Y. (2014). Fully autonomous focused exploration for robotic environmental monitoring. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2658–2664.
     Bibtex source
  34. Kruijff, G. J. M., Janíček, M., Keshavdas, S., Larochelle, B., Zender, H., Smets, N. J. J. M., Mioch, T., Neerincx, M. A., Diggelen, J. V., Colas, F., Liu, M., Pomerleau, F., Siegwart, R., Hlaváč, V., Svoboda, T., Petříček, T., Reinstein, M., Zimmermann, K., Pirri, F., … Sulk, M. (2014). Experience in system design for human-robot teaming in urban search and rescue. Proceedings of 8th International Conference on Field and Service Robotics (FSR), 92, 111–125.
     Bibtex source
  35. Colas, F., Mahesh, S., Pomerleau, F., Liu, M., & Siegwart, R. (2013). 3D path planning and execution for search and rescue ground robots. Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), 722–727. Best RoboCup Paper Award!
     Bibtex source
  36. Liu, M., Pradalier, C., Pomerleau, F., & Siegwart, R. (2012). The role of homing in visual topological navigation. Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), 567–572.
     Bibtex source
  37. Liu, M., Pradalier, C., Pomerleau, F., & Siegwart, R. (2012). Scale-only visual homing from an omnidirectional camera. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 3944–3949.
     Bibtex source
  38. Liu, M., Pomerleau, F., Colas, F., & Siegwart, R. (2012). Normal estimation for pointcloud using GPU based sparse tensor voting. Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO), 91–96.
     Bibtex source
  39. Liu, M., Colas, F., Pomerleau, F., & Siegwart, R. (2012). A Markov semi-supervised clustering approach and its application in topological map extraction. Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), 4743–4748.
     Bibtex source
  40. Gemme, S., Gingras, D., Salerno, A., Dupuis, E., Pomerleau, F., & Michaud, F. (2012). Pose Refinement Using ICP Applied to 3-D LIDAR Data for Exploration Rovers. Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space.
     Bibtex source
  41. Pomerleau, F., Breitenmoser, A., Liu, M., Colas, F., & Siegwart, R. (2012). Noise Characterization of Depth Sensors for Surface Inspections. Proceedings of the Applied Robotics for the Power Industry (CARPI).
     Bibtex source
  42. Pomerleau, F., Magnenat, S., Colas, F., Liu, M., & Siegwart, R. (2011). Tracking a depth camera: Parameter exploration for fast ICP. Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), 3824–3829.
     Bibtex source
  43. Tâche, F., Pomerleau, F., Fischer, W., Caprari, G., Mondada, F., Moser, R., & Siegwart, R. (2010). MagneBike: Compact magnetic wheeled robot for power plant inspection. Proceedings of the 1st International Conference on Applied Robotics for the Power Industry (CARPI).
     Bibtex source
  44. Pomerleau, F., Colas, F., Ferland, F., & Michaud, F. (2010). Relative Motion Threshold for Rejection in ICP Registration. Proceedings of the Conference on Field and Service Robotics (FSR). Springer Tracts in Advanced Robotics, 62, 229–238.
     Bibtex source
  45. Ferland, F., Pomerleau, F., Dinh, C. T. L., & Michaud, F. (2008). Egocentric and exocentric teleoperation interface using real-time, 3D video projection. Proceedings of the 4th ACM/IEEE International Conference on Human-Robot Interaction (HRI), 37–44.
     Bibtex source

Miscellaneous

  1. Dubois, W., Boxan, M., Laconte, J., & Pomerleau, F. (2024). 3D Mapping of Glacier Moulins: Challenges and lessons learned. In presented to the 2024 Workshop on Field Robotics from IEEE International Conference on Robotics and Automation (ICRA). https://arxiv.org/abs/2404.18790
     Publisher    Bibtex source
  2. Samson, N., Baril, D., Lépine, J., & Pomerleau, F. (2024). Comparing Motion Distortion Between Vehicle Field Deployments. In presented to the 2024 Workshop on Field Robotics from IEEE International Conference on Robotics and Automation (ICRA). https://doi.org/10.48550/arXiv.2405.00189
     Publisher    Bibtex source
  3. Gamache, O., Fortin, J.-M., Boxan, M., Pomerleau, F., & Giguère, P. (2024). Field Report on a Wearable and Versatile Solution for Field Acquisition and Exploration. In presented to the 2024 Workshop on Field Robotics from IEEE International Conference on Robotics and Automation (ICRA). https://doi.org/10.48550/arXiv.2405.00199
     Publisher    Bibtex source
  4. Boxan, M., Krawciw, A., Daum, E., Qiao, X., Lilge, S., Barfoot, T. D., & Pomerleau, F. (2024). FoMo: A Proposal for a Multi-Season Dataset for Robot Navigation in Forêt Montmorency. In presented to the 2024 Workshop on Field Robotics from IEEE International Conference on Robotics and Automation (ICRA). https://arxiv.org/abs/2404.13166
     Publisher    Bibtex source
  5. Daum, E., Vaidis, M., & Pomerleau, F. (2023). Benchmarking ground truth trajectories with robotic total stations. In presented at IROS23, Workshop on Methods for Objective Comparison of Results in Intelligent Robotics Research. https://arxiv.org/abs/2309.05134 Best paper award!
     Publisher    Bibtex source
  6. Deschênes, S.-P., Baril, D., Kubelka, V., Giguère, P., & Pomerleau, F. (2023). Lidar Scan Registration Robust to Extreme Motions. Colloque REPARTI, Université Laval.
     Bibtex source
  7. Boxan, M., & Pomerleau, F. (2023). 3D Point Clouds Reconstruction of Environment Subject to Thin Structures. Colloque REPARTI, Université Laval.
     Bibtex source
  8. Vaidis, M., Dubois, W., Guénette, A., Laconte, J., Kubelka, V., & Pomerleau, F. (2023). Extrinsic calibration for highly accurate trajectories reconstruction. Colloque REPARTI, Université Laval.
     Bibtex source
  9. Shahraji, M. H., Larouche, C., & Pomerleau, F. (2023). Marine Mobile Mapping for Port Infrastructure Monitoring. Colloque REPARTI, Université Laval.
     Bibtex source
  10. Guimont-Martin, W., Fortin, J.-M., Pomerleau, F., & Giguère, P. (2023). MaskBEV: Joint Object Detection and Footprint Completion for Bird’s-eye View 3D Point Clouds. Colloque REPARTI, Université Laval.
     Bibtex source
  11. Grondin, V., Pomerleau, F., & Giguère, P. (2022). Training Deep Learning Algorithms on Synthetic Forest Images for Tree Detection. In ICRA 2022 Workshop - Innovation in Forestry Robotics: Research and Industry Adoption.
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  12. Vaidis, M., Laconte, J., Kubelka, V., & Pomerleau, F. (2020). Improving the Iterative Closest Point Algorithm using Lie Algebra. In IROS 2020 Workshop - Bringing geometric methods to robot learning, optimization and control. https://doi.org/10.1109/CRV52889.2021.00012
     Bibtex source
  13. Labussière, M., Laconte, J., & Pomerleau, F. (2018). Geometry Preserving Sampling Method based on Spectral Decomposition for 3D Registration. arXiv preprint arXiv:1810.01666.
     Bibtex source
  14. Landry, D., Pomerleau, F., & Giguère, P. (2018). Data-driven covariance estimation of the iterative closest point algorithm. Rendez-vous en intelligence artificielle de Québec.
     Bibtex source
  15. Babin, P., Pomerleau, F., & Giguère, P. (2018). Improving the robustness of registration algorithm in complex environments. Colloque du regroupement FRQNT-REPARTI.
     Bibtex source
  16. Furgale, P., Krüsi, P., Pomerleau, F., Schwesinger, U., Colas, F., & Siegwart, R. (2014). There and Back Again–-Dealing with highly-dynamic scenes and long-term change during topological/metric route following. In ICRA14 Workshop on Modelling, Estimation, Perception, and Control of All Terrain Mobile Robots.
     Bibtex source
  17. Pomerleau, F., Lescot, B., Colas, F., Liu, M., & Siegwart, R. (2011). Dataset acquisitions for USAR environment: Vol. FS-11-05 (pp. 49–54). AAAI Fall Symposium - Technical Report.
     Bibtex source
  18. Sturm, J., Magnenat, S., Engelhard, N., Pomerleau, F., Colas, F., Cremers, D., Siegwart, R., & Burgard, W. (2011). Towards a benchmark for RGB-D SLAM evaluation. In Workshop on advanced reasoning with depth cameras at Robotics: Science and Systems (RSS).
     Bibtex source
  19. Gianni, M., Papadakis, P., Pirri, F., Liu, M., Pomerleau, F., Colas, F., Zimmermann, K., Svoboda, T., Petricek, T., Kruijff, G. J. M., Khambhaita, H., & Zender, H. (2011). A unified framework for planning and execution-monitoring of mobile robots: Vol. WS-11-09 (pp. 39–44). AAAI Workshop - Technical Report.
     Bibtex source
  20. Pomerleau, F., & Colas, F. (2010). Evaluation of stereo reconstruction for 3D mapping. 4th International Conference on Cognitive Systems (CogSys).
     Bibtex source
  21. Triebel, R., Scaramuzza, D., Rufli, M., Spinello, L., Pomerleau, F., & Siegwart, R. (2009). Key Technologies for Intelligent and Safer Cars–from Motion Estimation to Predictive Motion Planning. In Workshop on Planning, Perception and Navigation for Intelligent Vehicles (PPNIV).
     Bibtex source

inbook

  1. Courcelle, C., Baril, D., Pomerleau, F., & Laconte, J. (2023). On the Importance of Quantifying Visibility for Autonomous Vehicles under Extreme Precipitation. In H. Abut, G. Schmidt, K. Takeda, J. Lambert, & J. H. L. Hansen (Eds.), Towards Human-Vehicle Harmonization (Vol. 3, pp. 239–250). De Gruyter. https://doi.org/doi:10.1515/9783110981223-018
     Publisher    Bibtex source
  2. Pomerleau, F. (2023). Robotics in Snow and Ice. In M. H. Ang, O. Khatib, & B. Siciliano (Eds.), Encyclopedia of Robotics (pp. 1–6). Springer Berlin Heidelberg.
     PDF    Bibtex source

Theses

  1. Pomerleau, F. (2013). Applied Registration for Robotics: Methodology and Tools for ICP-like Algorithms [PhD thesis]. Eidgenössische Technische Hochschule (ETH) Zurich.
     Bibtex source
  2. Pomerleau, F. (2008). Registration algorithm optimized for simultaneous localization and mapping [Master's thesis]. Université de Sherbrooke.
     Bibtex source