Publications

Featured Publications

Exhaustive List

2019

  1. Landry, D., Pomerleau, F., & Giguère, P. (2019). CELLO-3D: Estimating the Covariance of ICP in the Real World. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Bibtex source
  2. Labussière, M., Laconte, J., & Pomerleau, F. (2019). Geometry Preserving Sampling Method based on Spectral Decomposition for 3D Registration. arXiv:1810.01666. Bibtex source
  3. Laconte, J., Deschênes, S.-P., Labussière, M., & Pomerleau, F. (2019). Lidar Measurement Bias Estimation via Return Waveform Modelling in a Context of 3D Mapping. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Bibtex source
  4. Laconte, J., Debain, C., Chapuis, R., Pomerleau, F., & Aufrere, R. (2019). Lambda-Field: A Continuous Counterpart of the Bayesian Occupancy Grid for Risk Assessment. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS). Bibtex source
  5. Dandurand, P., Babin, P., Kubelka, V., Giguère, P., & Pomerleau, F. (2019). Predicting GNSS satellite visibility from dense point clouds. In Proceedings of the Conference on Field and Service Robotics (FSR). Springer Tracts in Advanced Robotics. Bibtex source
  6. Babin, P., Dandurand, P., Kubelka, V., Giguère, P., & Pomerleau, F. (2019). Large-scale 3D Mapping of Sub-arctic Forests. In Proceedings of the Conference on Field and Service Robotics (FSR). Springer Tracts in Advanced Robotics. Bibtex source
  7. Tremblay, J.-F., Béland, M., Pomerleau, F., Gagnon, R., & Giguère, P. (2019). Automatic 3D Mapping for Tree Diameter Measurements in Inventory Operations. In Proceedings of the Conference on Field and Service Robotics (FSR). Springer Tracts in Advanced Robotics. Bibtex source
  8. Landry, D. (2019). Data-driven covariance estimation for the iterative closest point algorithm (Master's thesis). Université Laval. Bibtex source
  9. Pradalier, C., Aravecchia, S., & Pomerleau, F. (2019). Multi-session lake-shore monitoring in visually challenging conditions. In Proceedings of the Conference on Field and Service Robotics (FSR). Springer Tracts in Advanced Robotics. Bibtex source
  10. Babin, P., Giguère, P., & Pomerleau, F. (2019). Analysis of Robust Functions for Registration Algorithms. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Bibtex source

2018

  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, 35(8), 1327–1241. 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. Tremblay, J.-F., & Béland, M. (2018). Towards operational marker-free registration of terrestiral lidar data in forests. Colloque du regroupement FRQNT-REPARTI. Bibtex source
  4. Babin, P., Pomerleau, F., & Giguère, P. (2018). Improving the robustness of registration algorithm in complex environments. Colloque du regroupement FRQNT-REPARTI. Bibtex source
  5. 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). Bibtex source
  6. 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). Bibtex source

2017

  1. 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
  2. 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
  3. Pomerleau, F., & Kelly, J. (Eds.). (2017). Journal of Field Robotics. Bibtex source
  4. 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

2016

  1. 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). Bibtex source
  2. Jirku, M., Kubelka, V., & Reinstein, M. (2016). WiFi localization in 3D. In 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 4551–4557). IEEE. Bibtex source
  3. 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). Bibtex source
  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. Bibtex source
  5. Kruijff-Korbayová, I., Freda, L., Gianni, M., Ntouskos, V., Hlaváč, V., Kubelka, V., … others. (2016). Deployment of ground and aerial robots in earthquake-struck amatrice in italy (brief report). In 2016 IEEE international symposium on safety, security, and rescue robotics (SSRR) (pp. 278–279). IEEE. Bibtex source
  6. Kubelka, V., Reinstein, M., & Svoboda, T. (2016). Improving multimodal data fusion for mobile robots by trajectory smoothing. Robotics and Autonomous Systems, 84, 88–96. Bibtex source
  7. 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). Bibtex source

2015

  1. 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
  2. Simanek, J., Kubelka, V., & Reinstein, M. (2015). Improving multi-modal data fusion by anomaly detection. Autonomous Robots, 39(2), 139–154. Bibtex source
  3. Simanek, J., Reinstein, M., & Kubelka, V. (2015). Evaluation of the EKF-based estimation architectures for data fusion in mobile robots. IEEE/ASME Transactions on Mechatronics, 20(2), 985–990. Bibtex source
  4. Hitz, G., Pomerleau, F., Colas, F., & Siegwart, R. (2015). State Estimation for Shore Monitoring Using an Autonomous Surface Vessel. In Proceedings of the International Symposium on Experimental Robotics (ISER). Springer Tracts in Advanced Robotics (pp. 745–760). Springer International Publishing. Bibtex source
  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. Bibtex source
  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). Bibtex source
  7. 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
  8. 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

2014

  1. Kruijff, G. J. M., Kruijff-Korbayová, I., Keshavdas, S., Larochelle, B., Janíček, M., Colas, F., … Hlaváč, V. (2014). Designing, developing, and deploying systems to support human-robot teams in disaster response. Advanced Robotics, 28(23), 1547–1570. Bibtex source
  2. Kruijff, G. J. M., Janíček, 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). Bibtex source
  3. 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). Bibtex source
  4. 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). Bibtex source
  5. Kubelka, V., & Reinstein, M. (2014). Combining Complementary Motion Estimation Approaches to Increase Reliability in Urban Search & Rescue Missions. In International Workshop on Modelling and Simulation for Autonomous Systems (pp. 347–356). Springer, Cham. Bibtex source

2013

  1. 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
  2. Reinstein, M., Kubelka, V., & Zimmermann, K. (2013). Terrain adaptive odometry for mobile skid-steer robots. In 2013 IEEE International Conference on Robotics and Automation (pp. 4706–4711). IEEE. Bibtex source
  3. 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). Bibtex source
  4. Pomerleau, F. (2013). Applied Registration for Robotics: Methodology and Tools for ICP-like Algorithms (PhD thesis). Eidgenössische Technische Hochschule (ETH) Zurich. Bibtex source
  5. 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

2012

  1. 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). Bibtex source
  2. 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
  3. 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). Bibtex source
  4. Kubelka, V., & Reinstein, M. (2012). Complementary filtering approach to orientation estimation using inertial sensors only. In 2012 IEEE international conference on robotics and automation (pp. 599–605). IEEE. Bibtex source
  5. Pomerleau, F., Breitenmoser, A., Liu, M., Colas, F., & Siegwart, R. (2012). Noise Characterization of Depth Sensors for Surface Inspections. In Proceedings of the Applied Robotics for the Power Industry (CARPI). Bibtex source
  6. 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. In Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space. Bibtex source
  7. 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). Bibtex source
  8. 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
  9. 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
  10. 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). Bibtex source

2011

  1. Pomerleau, F., Lescot, B., Colas, F., Liu, M., & Siegwart, R. (2011). Dataset acquisitions for USAR environment. AAAI Fall Symposium - Technical Report. Bibtex source
  2. 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). Bibtex source
  3. 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
  4. 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. Bibtex source

2010

  1. 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). Bibtex source
  2. 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. Bibtex source
  3. 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). Bibtex source
  4. Pomerleau, F., & Colas, F. (2010). Evaluation of stereo reconstruction for 3D mapping. 4th International Conference on Cognitive Systems (CogSys). Bibtex source

2008

  1. Pomerleau, F. (2008). Registration algorithm optimized for simultaneous localization and mapping (Master's thesis). Université de Sherbrooke. Bibtex source
  2. 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). Bibtex source