François Pomerleau

François Pomerleau

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f.pomerleau@gmail.com

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Short Biography

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 Laval University (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 Laval University 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 Laval University.

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

Publications

Journal Articles

  1. 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, 1–22.
  2. 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.
  3. 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.
  4. 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.
  5. 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.
  6. 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.
  7. 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.
  8. 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.
  9. Kruijff, G. J. M., Kruijff-Korbayová, I., Keshavdas, S., Larochelle, B., Janíek, M., Colas, F., … Hlavá, V. (2014). Designing, developing, and deploying systems to support human-robot teams in disaster response. Advanced Robotics, 28(23), 1547–1570.
  10. 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.
  11. Garneau, M.-E., 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.
  12. 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.
  13. 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.
  14. 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.
  15. 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.
  16. Michaud, F., Boissy, P., Labonté, D., Brire, S., Perreault, K., Corriveau, H., … Létourneau, D. (2010). Exploratory design and evaluation of a homecare teleassistive mobile robotic system. Mechatronics, 20(7), 751–766.

Conference Articles

  1. Tang, T., Yoon, D., Pomerleau, F., & Barfoot, T. D. (2018). Learning a Bias Correction for Lidar-Only Motion Estimation. In Proceedings of the 15th Conference on Computer and Robot Vision (CRV).
  2. McGarey, P., Yoon, D., Tang, T., Pomerleau, F., & Barfoot, T. D. (2018). Field Deployment of the Tethered Robotic eXplorer to Map Extremely Steep Terrain. In Proceedings of the Conference on Field and Service Robotics (FSR). Springer Tracts in Advanced Robotics (Vol. 5, pp. 303–317).
  3. 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. In Proceedings of the 13th Conference on Computer and Robot Vision (CRV).
  4. 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. In Proceedings of the Conference on Field and Service Robotics (FSR). Springer Tracts in Advanced Robotics (Vol. 113, pp. 267–281).
  5. McGarey, P., Mactavish, K., Pomerleau, F., & Barfoot, T. D. (2016). The line leading the blind: Towards nonvisual localization and mapping for tethered mobile robots. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) (Vol. 2016-June, pp. 4799–4806).
  6. Paton, M., Pomerleau, F., & Barfoot, T. D. (2015). Eyes in the Back of Your Head: Robust Visual Teach & Repeat Using Multiple Stereo Cameras. In Proceedings of the 12th Conference on Computer and Robot Vision (CRV) (pp. 46–53).
  7. Kruijff, G. J. M., Janíek, M., Keshavdas, S., Larochelle, B., Zender, H., Smets, N. J. J. M., … Sulk, M. (2014). Experience in system design for human-robot teaming in urban search and rescue. In Proceedings of 8th International Conference on Field and Service Robotics (FSR) (Vol. 92, pp. 111–125).
  8. 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. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) (pp. 2658–2664).
  9. Pomerleau, F., Krüsi, P., Colas, F., Furgale, P., & Siegwart, R. (2014). Long-term 3D map maintenance in dynamic environments. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) (pp. 3712–3719).
  10. Colas, F., Mahesh, S., Pomerleau, F., Liu, M., & Siegwart, R. (2013). 3D path planning and execution for search and rescue ground robots. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS) (pp. 722–727).
  11. Liu, M., Colas, F., Pomerleau, F., & Siegwart, R. (2012). A Markov semi-supervised clustering approach and its application in topological map extraction. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS) (pp. 4743–4748).
  12. Liu, M., Pomerleau, F., Colas, F., & Siegwart, R. (2012). Normal estimation for pointcloud using GPU based sparse tensor voting. In Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO) (pp. 91–96).
  13. Liu, M., Pradalier, C., Pomerleau, F., & Siegwart, R. (2012). Scale-only visual homing from an omnidirectional camera. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) (pp. 3944–3949).
  14. Liu, M., Pradalier, C., Pomerleau, F., & Siegwart, R. (2012). The role of homing in visual topological navigation. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS) (pp. 567–572).
  15. Pomerleau, F., Magnenat, S., Colas, F., Liu, M., & Siegwart, R. (2011). Tracking a depth camera: Parameter exploration for fast ICP. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS) (pp. 3824–3829).
  16. Tâche, F., Pomerleau, F., Fischer, W., Caprari, G., Mondada, F., Moser, R., & Siegwart, R. (2010). MagneBike: Compact magnetic wheeled robot for power plant inspection. In Proceedings of the 1st International Conference on Applied Robotics for the Power Industry (CARPI).
  17. Pomerleau, F., Colas, F., Ferland, F., & Michaud, F. (2010). Relative Motion Threshold for Rejection in ICP Registration. In Proceedings of the Conference on Field and Service Robotics (FSR). Springer Tracts in Advanced Robotics (Vol. 62, pp. 229–238).
  18. Ferland, F., Pomerleau, F., Dinh, C. T. L., & Michaud, F. (2008). Egocentric and exocentric teleoperation interface using real-time, 3D video projection. In Proceedings of the 4th ACM/IEEE International Conference on Human-Robot Interaction (HRI) (pp. 37–44).

Theses

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

Miscellaneous

  1. Gianni, M., Papadakis, P., Pirri, F., Liu, M., Pomerleau, F., Colas, F., … Zender, H. (2011). A unified framework for planning and execution-monitoring of mobile robots. AAAI Workshop - Technical Report.
  2. Pomerleau, F., Lescot, B., Colas, F., Liu, M., & Siegwart, R. (2011). Dataset acquisitions for USAR environment. AAAI Fall Symposium - Technical Report.
  3. Pomerleau, F., & Colas, F. (2010). Evaluation of stereo reconstruction for 3D mapping. 4th International Conference on Cognitive Systems (CogSys).