François Pomerleau

François Pomerleau

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francois.pomerleau@ift.ulaval.ca

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François Pomerleau a fait ses débuts en recherche en interagissant avec l’Agence spatiale canadienne et l’Agence spatiale européenne lors de ses études en génie informatique à l’Université de Sherbrooke. Il a obtenu sa maîtrise de la même université (François Michaud) en 2009 après un séjour d’un an à l’EPFL (Roland Siegwart - Suisse) où il a travaillé sur un prototype de voiture autonome. Il a complété son doctorat à l’ETH Zurich (Roland Siegwart - Suisse) en 2013 durant lequel il a participé à plusieurs déploiements robotiques en environnements non contrôlés, entre autre avec des brigades de pompiers européennes et dans les lacs alpins. Après des activités de transfert technologique chez Alstom Inspection Robotics et un séjour à l’Université Laval (Philippe Giguère), il fut boursier postdoctoral du Conseil de recherches en sciences naturelles et en génie du Canada afin de continuer ses recherches à l’Université de Toronto en robotique mobile (Tim Barfoot). Il continua ses activités de transfert technologique en tant que chercheur postdoctoral à l’Université Laval dans le Laboratoire de robotique (Clément Gosselin) et travailla, en collaboration avec la compagnie Robotiq, à l’élaboration de l’industrie 4.0. Depuis septembre 2017, il est professeur dans le département d’informatique et de génie logiciel à l’Université Laval.

Ses intérêts de recherches incluent la reconstruction 3D d’environnements à l’aide de données laser, la navigation autonome, les activités de recherche et sauvetage, la surveillance de l’environnement, la planification de trajectoires et la méthodologie scientifique appliquée à la robotique.

Éducation

Services scientifiques

  • Éditeur associé pour le IEEE/RSJ International Conference on Intelligent Robots and Systemsi (IROS)
  • Membre du comité de programme international pour la Conference on Field and Service Robotics (FSR)
  • Membre du comité de programme international pour la Conference on Computer and Robot Vision (CRV)
  • Éditeur spécial pour le Journal of Field Robotics Volume 34, Issue 1
  • Réviseur régulier pour des journaux et conférences internationals (e.g., ICRA, IROS, CRV, FSR, JFR, RA-L, TMECH, IJRR, Autonomous Robot)

Associations

  • Membre senior de Institute of Electrical and Electronic Engineers (IEEE)
  • Ing., Membre de l’Ordre des ingénieurs du Québec (OIQ)
  • Distal fellow du Réseau canadien de robotique du CRSNG (RCRC)
  • Membre du programme CRSNG-FONCER sur la robotique collaborative (CoRoM)
  • Membre du centre de recherche en robotique, vision et intelligence machine (CeRVIM)
  • Membre du regroupement stratégique pour l’étude des environnements partagés intelligents répartis (REPARTI)

Publications

Journal Articles

  1. Laconte, J., Kasmi, A., Pomerleau, F., Chapuis, R., Malaterre, L., Debain, C., & Aufrère, R. (2020). Lambda-Field: A Continuous Counterpart Of The Bayesian Occupancy Grid For Risk Assessment And Safe Navigation. International Journal of Robotics Research (IJRR). Bibtex source
  2. Chahine, G., Vaidis, M., Pomerleau, F., & Pradalier, C. (2020). Mapping in unstructured natural environment: A sensor fusion framework for wearable sensor suites. Journal of Intelligent & Robotic Systems. Bibtex source
  3. 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. Bibtex source
  4. 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 Bibtex source
  5. Labussière, M., Laconte, J., & Pomerleau, F. (2020). Geometry Preserving Sampling Method based on Spectral Decomposition for 3D Registration. Frontiers in Robotics and AI – Multi-Robot Systems. Bibtex source
  6. 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
  7. 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 Bibtex source
  8. 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
  9. 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
  10. 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
  11. 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
  12. 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
  13. 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
  14. 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
  15. 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
  16. 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
  17. 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
  18. 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
  19. 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
  20. 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
  21. 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
  22. 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. Baril, D., Grondin, V., Deschênes, S., Laconte, J., M., V., Kubelka, V., Gallant, A., Giguère, P., & Pomerleau, F. (2020). Evaluation of Skid-Steering Kinematic Models for Subarctic Environments. Proceeding of the 2020 17th Conference on Computer and Robot Vision (CRV). PDF Bibtex source
  2. Roucek, 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
  3. 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
  4. 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
  5. 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
  6. 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
  7. 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
  8. 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
  9. 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). PDF Bibtex source
  10. 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
  11. 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
  12. 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
  13. 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). Bibtex source
  14. 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
  15. 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
  16. 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
  17. 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
  18. 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
  19. 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
  20. 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
  21. 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. Bibtex source
  22. 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
  23. 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
  24. 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
  25. 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
  26. 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
  27. 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
  28. 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
  29. 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
  30. 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
  31. 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. Babin, P., Pomerleau, F., & Giguère, P. (2018). Improving the robustness of registration algorithm in complex environments. Colloque du regroupement FRQNT-REPARTI. Bibtex source
  2. 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
  3. 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
  4. 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
  5. Pomerleau, F., & Colas, F. (2010). Evaluation of stereo reconstruction for 3D mapping. 4th International Conference on Cognitive Systems (CogSys). 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