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Ref : ESF-4768
Posting date : 08/03/2010
End posting date : 05/05/2010
Employer : LAboratoire des Sciences et Matériaux pour l'Electronique et d'Automatique
Contract : Fixed-term
Location : Clermont ferrand,
Auvergne,
France
Salary : 1800 € Net/month during 18 months
LASMEA(Laboratory of Sciences and Materials for Electronics and Automation) is joint unit of CNRS and Université Blaise Pascal and consists of 120 researchers and phd students.
In our research group GRAVIR(Group Automation, Vision and Robotics), LASMEA is doing research in the field of Robotics, Computer Vision and multi-sensor perception. In the last area, we are developing hardware and software architectures for embedded perception, particularly smart cameras.
 Details
The purpose of this post-doc (proposed in VIRAGO project) is to use a smart stereo camera (designed at LASMEA) based on the reconfigurable logic and CMOS imagers. The main objective is to use a methodology matching the architecture and vision algorithms, to develop an optimal system of high speed embedded vision.
In fact, in conventional approaches, the use of cameras can be summarized by image storage and an "offline" processing. However these systems are expensive and completely inconsistent with the "real time" control of robots. Also, for direct use in the control loop of robot, it is necessary to have real time "sensor" information.
The approach proposed here is to process the large amount of information directly into the camera to eliminate the "bottleneck" between the sensor and control system. The second point is to use sensors using "Rolling Shutter" CMOS technology. The project VIRAGO is built on a major innovation (winner of a European Conference on Computer Vision 2006) which involves the exploitation of algorithm using this technology. In the "rolling shutter" mode, all pixels of the imager are not simultaneously exposed to light but sequentially line by line. When the relative speed between camera and scene becomes very large, deformations or distortions appear in the image. These distortions are not taken into account in the classical perspective projection which considers the observation of a rigid world. This creates unusable images from the rolling shutter of camera during pose estimation, and hence for three-dimensional reconstruction. This model allows calculating the accurate placement of the object but also operates the distortions induced by this phenomenon for measuring the instantaneous speed of 3D rigid objects.
In this case, the vision system is planned to have the low-level processing and technical computing compensating defects closer to the retina so as to provide not an image (which must be transferred to PC for processing) but a direct geometrical information (position, orientation, speed). This should provide such information at the rates of 1000 Hz, consistent with the rapid control of robots, and details that are usually less than a few Hertz frequency.
Candidate profile
Proficiency in English(spoken and written) is obligatory.
The candidate should be experience in :
• Hardware Programing (VHDL)
• Electronic System concepts
• System Programing (in C)
Knowledge of following will be plus :
• Artificial vision
• Geometry and calibration
Application process
Contacts :
François Berry - Francois.Berry@lasmea.univ-bpclermont.fr – Tel : 04 73 40 72 52
Omar AIT AIDER - omar.ait-aider@lasmea.univ-bpclermont.fr – Tel : 04 73 40 55 67
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