I'm a full time researcher at the institut Pascal
(chargé de recherche CNRS, HDR) working on Computer Vision.
My research topics are (in the chronological order on the whole)
Image Matching: Quasi-Dense Matching, Occlusion Handling,
Automatic Methods for Image Pairs
(used tools: Harris Points, Correlation, Uniqueness and 2D Disparity Gradient
Constraints, Best-First Propagation, Fundamental Matrix Estimation, RANSAC)
Image-Based Rendering: Warping, Occlusion Handling, Face Morphing,
Automatic Methods for Image Pairs
(used tools: Joint View Triangulation or JVT, 2d Delaunay Triangulation,
RANSAC, Image Mosaic and Matching)
3D Reconstruction for Visualization: Quasi-Dense Reconstruction,
Surface Reconstruction, Uncalibrated Vision, Image-Based Modeling,
Automatic Vision System for Still Image Sequences
(used tools: Projective and Euclidean Bundle Adjustments, Level Set,
Pinhole Cameras, Projective Geometry, Auto-Calibration, Texture Merging,
Image Matching)
3D Reconstruction for Robotic: Structure from Motion, Localization,
Visual Simultaneous Localization and Mapping (Visual SLAM),
Automatic Vision Systems for Videos
(used tools: Hierarchical/Global and Incremental/Local Bundle Adjustments,
Calibrated Pinhole and Fish-eye Cameras, SIMD Instructions of Pentium
MMX/SSE/SSE2, Key-Frame Selection, Uncertainty Ellipsoids, Image Matching,
GPS)
Omnidirectional Vision: Central and Non-Central Cameras, Structure
from Motion, Generic Camera, Image-Based Modeling, Surface Reconstruction,
2-Manifold, Automatic Vision Systems for Still and Video Image Sequences
(used tools: Image and Angular Bundle Adjustments, Catadioptric Cameras,
Image Matching, 3d Delaunay Triangulation, Texture merging)
More details are given in the publications and
demos below.
For all topics, the main difficulty is to obtain fully automatic methods
involving low cost hardware (1 camera+1 PC) for uncontrolled environments
(no beacons/turntable/friendly background or highly finished light control).
A top view of the reconstructed/learned scene and the current localized camera
are on the left.
The key frame used for localization and the current frame to be localized are
respectively shown on the top right and bottom right corners.
Thanks to B. Achermann (University of Bern, Switzerland) for providing the
input images.
These faces are ordered in the alphabetical order and automatically morphed.
Vadim Litvinov is doing a Ph.D thesis (2011-2014) about the
real-time 3D scene modeling.
Shuda Yu is doing a Ph.D thesis (2010-2013) about
the surface reconstruction of environments using a catadioptric camera.
Alexandre Eudes did a Ph.D thesis (2007-2010)
about the Odometry for driving help in urban areas.
Now Alexandre is doing Post-doc at ISIR
(université Pierre et Marie Curie).
Etienne Mouragnon did a Ph.D thesis (2004-2007)
about the incremental estimation of the geometry of a video.
Now, Etienne is working at AIGL Developpement (firm on photogrammetry).
Eric Royer did (a Master and) a Ph.D thesis (2003-2006)
about the localization of vehicles in urban environments.
Now, Eric is lecturer at the university in Clermont Ferrand.
PAMI'12,
Incremental Fusion of Structure-from-Motion and GPS using Constrained Bundle Adjustment,
PDF,
M. Lhuillier,
IEEE Transactions on Pattern Analysis and Machine Intelligence, 34(12), 2012
(DOI 10.1109/TPAMI.2012.157).
IJCV'11,
A Generic Error Model and its Application to Automatic 3D Modeling of Scenes using a Catadioptric Camera,
Postscript,
PDF (see also the
IJCV web site).
M. Lhuillier,
International Journal of Computer Vision, 91(2):175-199
(DOI 10.1007/s11263-010-0374-2).
TOG'09,
Image-based Street-side City Modeling,
PDF,
J. Xiao, T. Fang, P. Zhao, M. Lhuillier and L. Quan,
ACM Transaction on Graphics, 28(5), 2009
(also in proceedings of SIGGRAPH ASIA'09).
IVC'09,
Generic and Real-Time Structure from Motion using Local Bundle Adjustment,
Postscript,
PDF,
E. Mouragnon, M. Lhuillier, M. Dhome, F. Dekeyser and P. Sayd,
Image and Vision Computing, 27:1178-1193, 2009.
CVIU'08,
Automatic Scene Structure and Camera Motion using a Catadioptric System,
Postscript,
PDF,
M. Lhuillier,
Computer Vision and Image Understanding, 109(2):186-203, 2008.
IJCV'07/IJRR'07,
Monocular vision for mobile robot localization and autonomous navigation,
Postscript,
PDF,
E. Royer, M. Lhuillier, M. Dhome and J.M. Lavest,
International Journal of Computer Vision, 74(3),
(special joint issue on vision and robotics,
with the International Journal of Robotics Research).
TS'06,
Localisation par vision monoculaire pour la navigation autonome,
Postscript,
PDF,
E. Royer, M. Lhuillier, M. Dhome and J.M. Lavest,
Traitement du Signal, 23(1), 2006.
TPAMI'05,
A Quasi-Dense Approach to Surface Reconstruction from Uncalibrated
Images,
Postscript,
PDF, (these files include large figures and
appendix)
M. Lhuillier and L. Quan,
IEEE Transactions on Pattern Analysis and Machine Intelligence,
27(3):418-433, 2005. Experimental data are also available for this
paper.
TCSVT'03,
Image-Based Rendering by Joint View Triangulation,
Postscript,
PDF,
M. Lhuillier and L. Quan,
IEEE Transactions on Circuits and Systems for Video Technology,
13(11):1051-1063, 2003.
TPAMI'02,
Match Propagation for Image-Based Modeling and Rendering,
Postscript,
PDF,
M. Lhuillier and L. Quan,
IEEE Transactions on Pattern Analysis and Machine Intelligence,
24(8):1140-1146, 2002.
Conferences
IC3D'12,
2-Manifold Reconstruction from Sparse Visual Features,
PDF,
V. Litvinov, S. Yu and M. Lhuillier,
Proceedings of the International Conference on 3D Imaging, Liège,
Belgium, December 2012.
ICPR'12,
Genus refinement of a manifold surface reconstructed by sculpting the
3d-Delaunay triangulation of Structure-from-Motion points,
PDF,
S. Yu and M. Lhuillier,
Proceedings of the IAPR International Conference on Pattern Recognition,
Tsukuba, Japan, November 2012.
3DIMPVT'12,
Incremental Reconstruction of Manifold Surface from Sparse Visual
Mapping,
PDF,
S. Yu and M. Lhuillier,
Proceedings of the second joint 3DIM/3DPVT Conference
(3D Imaging, Modeling, Processing, Vizualization and Transmission), Zurich,
Switzerland, October 2012.
RFIA'12,
Fusion GPS-vision à l'aide d'ajustement de faisceaux
contraints,
PDF,
M. Lhuillier,
Proceedings of the Congrès francophone AFRIF-AFIA de reconnaissance des
formes et d'intelligence artificielle, Lyon, France, January 2012.
RFIA'12,
Modèles 3d à partir d'un nuage épars de points et
une caméra catadioptrique,
PDF,
S. Yu and M. Lhuillier,
Proceedings of the Congrès francophone AFRIF-AFIA de reconnaissance des
formes et d'intelligence artificielle, Lyon, France, January 2012.
MIRAGE'11,
Surface Reconstruction of Scenes using a Catadioptric Camera,
PDF,
S. Yu and M. Lhuillier,
Lecture Notes in Computer Science, Volume 6930, Springer Verlag, 2011
(also in the conference on Computer Vision/Computer Craphics Collaboration
Techniques and Applications, October 2011).
CVPR'11,
Fusion of GPS and Structure-from-Motion using Constrained Bundle
Adjustments,
Postscript,
PDF,
M. Lhuillier,
Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition,
Colorado Springs, Colorado, June 2011.
PCV'10,
Environment Modeling from Images taken by a Low Cost Camera,
Postscript,
PDF,
M. Lhuillier,
International Archives of Photogrammetry, Remote Sensing and Spatial
Information Sciences, vol. XXXVIII part 3A, 2010
(also in proceedings of PCV'10).
BMVC'10,
Weighted Local Bundle Adjustment and Application to Odometry and Visual SLAM Fusion,
Postscript,
PDF,
A. Eudes, S. Naudet-Collette, M. Lhuillier and M. Dhome,
Proceedings of the 21th British Machine Vision Conference, Aberystwyth, United
Kingdom, September 2010.
ICPR'10,
Fast Odometry Integration in Local Bundle Adjustment-based Visual SLAM,
Postscript,
PDF,
A. Eudes, M. Lhuillier, S. Naudet-Collette and M. Dhome,
Proceedings of the IAPR International Conference on Pattern Recognition,
Istambul, Turkey, August 2010.
RFIA'10,
Propagations d'erreur pour l'ajustement de faisceaux local,
Postscript,
PDF,
A. Eudes, M. Lhuillier, S. Naudet-Collette,
Proceedings of the Congrès francophone AFRIF-AFIA de reconnaissance des
formes et d'intelligence artificielle, Caen, France, January 2010.
CVPR'09,
Error Propagations for Local Bundle Adjustment,
Postscript,
PDF,
A. Eudes and M. Lhuillier,
Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition,
Miami, Florida, June 2009.
CVPR'08,
Toward Automatic 3D Modeling of Scenes using a Generic Camera Model,
Postscript,
PDF
(see also the proof appendix Postscript,
PDF),
M. Lhuillier,
Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition,
Anchorage, Alaska, June 2008.
RFIA'08,
Vers la modélisation 3D flexible avec une caméra
catadioptrique,
Postscript,
PDF,
M. Lhuillier,
Proceedings of the Congrès francophone AFRIF-AFIA de reconnaissance des
formes et d'intelligence artificielle, Amiens, France, January 2008.
RFIA'08,
Reconstruction 3D générique et temps réel,
Postscript,
PDF,
E. Mouragnon, M. Lhuillier, M. Dhome, F. Dekeyser and P. Sayd,
Proceedings of the Congrès francophone AFRIF-AFIA de reconnaissance des
formes et d'intelligence artificielle, Amiens, France, January 2008.
BMVC'07,
Generic and Real Time Structure from Motion,
Postscript,
PDF,
E. Mouragnon, M. Lhuillier, M. Dhome, F. Dekeyser and P. Sayd,
Proceedings of the 18th British Machine Vision Conference, Warwick, United
Kingdom, September 2007.
CVPR'07,
Toward Flexible 3D Modeling using a Catadioptric Camera,
Postscript,
PDF,
M. Lhuillier,
Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition,
Minneapolis, USA, June 2007.
ICPR'06,
Monocular Vision Based SLAM for Mobile Robots,
Postscript,
PDF,
E. Mouragnon, M. Lhuillier, M. Dhome, F. Dekeyser and P. Sayd,
Proceedings of the IAPR International Conference on Pattern Recognition,
Hong Kong, China, August 2006.
ICPR'06,
Effective and Generic Structure from Motion using Angular Error,
Postscript,
PDF (including corrected appendix),
M. Lhuillier,
Proceedings of the IAPR International Conference on Pattern Recognition,
Hong Kong, China, August 2006.
CVPR'06,
Real-Time Localization and 3D Reconstruction,
Postscript,
PDF,
E. Mouragnon, M. Lhuillier, M. Dhome, F. Dekeyser and P. Sayd,
Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition,
New-York, USA, June 2006.
ICRA'06,
Uncertainty ellipsoids calculations for complex 3D reconstruction,
Postscript,
PDF,
M. Lhuillier and M. Perriollat,
Proceedings of the IEEE International Conference on Robotics and Automation,
Orlando, USA, May 2006.
ICRA'06,
3D Reconstruction of complex structures with bundle adjustment: an
incremental approach,
Postscript,
PDF,
E. Mouragnon, M. Lhuillier, M. Dhome, F. Dekeyser and P. Sayd,
Proceedings of the IEEE International Conference on Robotics and Automation,
Orlando, USA, May 2006.
RFIA'06,
Reconstruction 3D automatique avec une caméra
catadioptrique,
Postscript,
PDF,
M. Lhuillier,
Proceedings of the Congrès francophone AFRIF-AFIA de reconnaissance des
formes et d'intelligence artificielle, Tours, France, January 2006.
RFIA'06,
Localisation par vision monoculaire pour la navigation autonome d'un robot mobile,
Postscript,
PDF,
E. Royer, M. Lhuillier, M. Dhome and J.M. Lavest,
Proceedings of the Congrès francophone AFRIF-AFIA de reconnaissance des
formes et d'intelligence artificielle, Tours, France, January 2006.
OMNIVIS'05,
Automatic Structure and Motion using a Catadioptric Camera,
Postscript,
PDF,
M. Lhuillier,
Proceedings of the 6th Workshop on Omnidirectional Vision, Camera Networks and
Non-classical cameras, Beijing, China, October 2005.
BENCOS'05,
Performance Evaluation of a Localization System Relying on Monocular
Vision and Natural Landmarks,
Postscript,
PDF,
E. Royer, M. Lhuillier, M. Dhome and J.M. Lavest,
Proceedings of the ISPRS Workshop BenCOS (Towards Benchmarking Automated
Calibration, Orientation and Surface Reconstruction from Images), Beijing,
China, October 2005.
IROS'05,
Outdoor autonomous navigation using monocular vision,
Postscript,
PDF,
E. Royer, J. Bom, M. Dhome, B. Thuilot, M. Lhuillier and F. Marmoiton,
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and
Systems, Alberta, Canada, August 2005.
CVPR'05,
Localization in urban environments: monocular vision compared to a
differential GPS sensor,
Postscript,
PDF,
E. Royer, M. Lhuillier, M. Dhome and T. Chateau,
Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition,
San Diego, USA, June 2005.
GIAE'04,
Recent Methods for Reconstructing Surfaces from Multiple Images,
,
G. Zeng, M. Lhuillier and L. Quan,
Lecture Notes in Computer Science, Volume 3519, Springer Verlag, 2005
(revised selected papers of GIAE/IWMM'2004).
BMVC'04,
Towards an alternative GPS sensor in dense urban environment from visual
memory,
Postscript,
PDF,
E. Royer, M. Lhuillier, M. Dhome and T. Chateau,
Proceedings of the 15th British Machine Vision Conference, London, United
Kingdom, September 2004.
ECCV'04,
Surface Reconstruction by Propagating 3D Stereo Data in Multiple 2D
Images,
Postscript,
PDF,
G. Zeng, S. Paris, L. Quan and M. Lhuillier,
Proceedings of the 8th European Conference on Computer Vision, Prague,
Czech Republic, Volume 1, pages 163-174, May 2004.
Also in Lecture Notes in Computer Science 3021, Springer Verlag.
ACCV'04,
Fast Segmentation-based dense stereo from quasi-dense matching,
Postscript,
PDF,
Y. Wei, M. Lhuillier and L. Quan,
Proceedings of the Asian Conference on Computer Vision, Jeju Island,
Korea, January 2004.
RFIA'04,
Reconstruction quasi-dense et modèles 3D à partir d'une
séquence d'images,
Postscript,
PDF,
M. Lhuillier and L. Quan,
Proceedings of the Congrès francophone AFRIF-AFIA de reconnaissance des
formes et d'intelligence artificielle, Toulouse, France, January 2004.
ICCV'03,
Surface Reconstruction by Integrating 3D and 2D Data of Multiple
Views,
Postscript,
PDF,
M. Lhuillier and L. Quan,
Proceedings of the 9th International Conference on Computer Vision, Nice,
France, October 2003.
ICPR'02,
Structure from Motion from Three Affine Views,
Postscript,
PDF,
L. Quan and M. Lhuillier,
Proceedings of the IAPR International Conference on Pattern Recognition,
Quebec, Volume 4, August 2002.
ECCV'02,
Quasi-Dense Reconstruction from Image Sequence,
Postscript,
PDF,
M. Lhuillier and L. Quan,
Proceedings of the 7th European Conference on Computer Vision, Copenhagen,
Denmark, Volume 2, pages 125-139, May 2002.
Also in Lecture Notes in Computer Science 2351, Springer Verlag.
ICCV'01,
Concentric Mosaics, Planar Motions and 1D Cameras,
L. Quan, L. Lu, H. Shum and M. Lhuillier,
Proceedings of the 8th International Conference on Computer Vision, Vancouver,
Canada, 2001.
CVPR'01,
Relief Mosaics by Joint View Triangulation,
Postscript,
PDF,
M. Lhuillier and L. Quan,
Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition,
Hawaii, USA, December 2001.
ICPR'00,
Robust Dense Matching Using Local and Global Geometric Constraints,
Postscript,
PDF,
M. Lhuillier and L. Quan,
Proceedings of the IAPR International Conference on Pattern Recognition,
Barcelone, Spain, Volume 2, pages 968-972, September 2000.
ICPR'2000 Piero Zamperoni Best Student Paper Award.
CVPR'00,
Edge-Constrained Joint View Triangulation for Image Interpolation,
Postscript,
PDF,
M. Lhuillier and L. Quan,
Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition,
Hilton Head Island, South Carolina, USA, Volume 2, pages 218-224, June 2000.
RFIA'00,
Appariement dense robuste a l'aide de contraintes geometriques locales et
globales,
Postscript,
PDF,
M. Lhuillier and L. Quan,
Actes du 12eme Congrès Francophone AFRIF-AFIA de Reconnaissance
des Formes et Intelligence Artificielle, Paris, Volume 3, pages 215-223,
February 2000.
CVPR'99,
Image Interpolation by Joint View Triangulation,
Postscript,
PDF,
M. Lhuillier and L. Quan,
Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition,
Fort Collins, Colorado, USA, Volume 2, pages 139-145, June 1999.
VI'99,
Joint View Triangulation for Two Views,
PDF,
Postscript,
M. Lhuillier,
Proceedings of the 12th Conference on Vision Interface, Trois Rivieres, Quebec,
pages 360-367, May 1999.
Also in INRIA technical report RR-3619 (title:
Towards Automatic Interpolation for Real and Distant Image Pairs ),
February 1999,
Postscript,
PDF.
BMVC'98,
Efficient Dense Matching for Textured Scenes Using Region Growing,
Postscript,
PDF,
M. Lhuillier,
Proceedings of the 9th British Machine Vision Conference, Southampton,
United Kingdom, Volume 2, pages 700-709, September 1998.
Also in INRIA technical report RR-3382, Mars 1998,
Postscript,
PDF.
Also, I like paragliding and paramotor.
Here are videos and shots that i take during flying.
October 3rd 2012:
The following youtube videos (HD) show paramotor crosses near gorges du Verdon
and in Auvergne (puy de Dome, Pariou, Come, Sancy).
July 28th 2007:
See some omnidirectional shots.
October 25th 2005:
I was a participant of the masquerade contest at the
32nd Icarus Cup / Coupe
Icare as Skippy the Kangaroo !
Thanks to Frederic Jurie
for providing the following images.
October 25th 2005:
See some shots of the masquerade contest at the 31st Icarus Cup / Coupe
Icare.
