Romuald AUFRERE

Team of ISPR

Institut Pascal - CNRS UMR 6602
Uni­ver­sité Clermont-Auvergne
4, avenue Blaise Pascal
63178 AUBIERE CEDEX
France

Dr. Romuald AUFRERE

Assistant professor
ISPR, PERSYST

romuald.aufrere@-Code to remove to avoid SPAM-uca.fr
+33 4 73 40 7892

Journal articles

2022

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Johann Laconte, Abderrahim Kasmi, Romuald Aufrère, Maxime Vaidis, Roland Chapuis. A Survey of Localization Methods for Autonomous Vehicles in Highway Scenarios. Sensors, 2022, 22 (1), pp.247. ⟨10.3390/s22010247⟩. ⟨hal-03995347⟩
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https://hal.science/hal-03995347/file/sensors-2022_LACONTE.pdf BibTex

2021

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Johann Laconte, Abderrahim Kasmi, François Pomerleau, Roland Chapuis, Laurent Malaterre, et al.. A Novel Occupancy Mapping Framework for Risk-Aware Path Planning in Unstructured Environments. Sensors, 2021, 21 (22), pp.7562. ⟨10.3390/s21227562⟩. ⟨hal-03438807⟩
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2020

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Abderrahim Kasmi, Johann Laconte, Romuald Aufrère, Dieumet Denis, Roland Chapuis. End-to-End Probabilistic Ego-Vehicle Localization Framework. IEEE Transactions on Intelligent Vehicles, 2020, pp.1-1. ⟨10.1109/TIV.2020.3017256⟩. ⟨hal-03049396⟩
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https://uca.hal.science/hal-03049396/file/Final_Iv_transaction.pdf BibTex

2019

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Laurent Delobel, Romuald Aufrère, Christophe Debain, Roland Chapuis, Thierry Chateau. A Real-Time Map Refinement Method Using a Multi-Sensor Localization Framework. IEEE Transactions on Intelligent Transportation Systems, 2019, 20 (5), pp.1644-1658. ⟨10.1109/TITS.2018.2840822⟩. ⟨hal-01887158⟩
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2018

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Franck Gechter, Abderrafiaa Koukam, Christophe Debain, Baudouin Dafflon, Madeleine El-Zaher, et al.. Platoon Control Algorithm Evaluation: Metrics, Configurations, Perturbations, and Scenarios. Journal of Testing and Evaluation, 2018, 48 (2), ⟨10.1520/JTE20170347⟩. ⟨hal-01887160⟩
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2017

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Claude Aynaud, Coralie Bernay-Angeletti, Romuald Aufrère, Laurent Lequievre, Christophe Debain, et al.. Real-Time Multisensor Vehicle Localization: A Geographical Information System Based Approach. IEEE Robotics and Automation Magazine, 2017, 24 (3), pp.65 - 74. ⟨10.1109/MRA.2017.2669399⟩. ⟨hal-01657805⟩
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2016

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R. Aufrère, R. Chapuis, F. Chausse. A Dynamic Vision Algorithm to Locate a Vehicle on a Nonstructured Road. The International Journal of Robotics Research, 2016, 19 (5), pp.411-423. ⟨10.1177/02783640022066941⟩. ⟨hal-02121604⟩
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2015

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Guillaume Bresson, Thomas Féraud, Romuald Aufrère, Paul Checchin, Roland Chapuis. Real-Time Monocular SLAM With Low Memory Requirements. IEEE Transactions on Intelligent Transportation Systems, 2015, 16 (4), pp.1827 - 1839. ⟨10.1109/TITS.2014.2376780⟩. ⟨hal-01351439⟩
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https://inria.hal.science/hal-01351439/file/2015-monocular_slam_with_low_memory_requirements.pdf BibTex
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Guillaume Bresson, Romuald Aufrère, Roland Chapuis. A General Consistent Decentralized Simultaneous Localization And Mapping Solution. Robotics and Autonomous Systems, 2015, 74, Part A, pp.128-147. ⟨hal-01711083⟩
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https://hal.science/hal-01711083/file/journal-RAS.pdf BibTex

2013

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Hanen Chenini, Jean Pierre Dérutin, Romuald Aufrère, Roland Chapuis. Parallel embedded processor architecture for FPGA-based image processing using parallel software skeletons. EURASIP Journal on Advances in Signal Processing, 2013, 2013 (1), ⟨10.1186/1687-6180-2013-153⟩. ⟨hal-02115059⟩
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https://hal.science/hal-02115059/file/1687-6180-2013-153.pdf BibTex

2003

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Romuald Aufrère, J. Gowdy, C. Mertz, C. Thorp, T. Yata. PERCEPTION FOR COLLISION AVOIDANCE AND AUTONOMOUS DRIVING. Mechatronics, 2003, 13,10, pp.1149-1161. ⟨hal-00117425⟩
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H. Zhou, K.M. Hou, J. Ponsonnaille, L. Gineste, J. Coudon, et al.. TRANSFORMATION OF HEALTHCARE WITH INFORMATION TECHNOLOGIES. Studies in Health Technology and Informatics, 2003, 105, pp.112-120. ⟨hal-00118050⟩
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2002

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R. Chapuis, R. Aufrere, F. Chausse. Accurate road following and reconstruction by computer vision. IEEE Transactions on Intelligent Transportation Systems, 2002, 3 (4), pp.261-270. ⟨10.1109/TITS.2002.804751⟩. ⟨hal-02121602⟩
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Roland Chapuis, Romuald Aufrère, Frédéric Chausse. ACCURATE RAOD FOLLOWING AND RECONSTRUCTION BY COMPUTER VISION. IEEE Transactions on Intelligent Transportation Systems, 2002, 3,4, pp.261-270. ⟨hal-00117439⟩
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2001

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Romuald Aufrère, F. Marmoton, Roland Chapuis, Jean-Pierre Derutin, F. Collange. DETECTION ET SUIVI DE VEHICULES PAR VISION POUR LE CONTROLE ACC. Traitement du Signal, 2001, 17-3, pp.233-248. ⟨hal-00118083⟩
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Romuald Aufrère, Roland Chapuis, Frédéric Chausse. A model-driven approach for real-time road recognition. Machine Vision and Applications, 2001, 13 (2), pp.95-107. ⟨10.1007/PL00013275⟩. ⟨hal-02121603⟩
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Romuald Aufrère, F. Marmoton, Roland Chapuis, Jean-Pierre Derutin, F. Collange. ROADDETECTION AND VEHICLE TRACKING BY VISION FOR ADAPTATIVE CRUISE CONTROL. The International Journal of Robotics Research, 2001, 20,4, pp.267-286. ⟨hal-00117431⟩
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Conference papers

2023

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Mohamed Benrabah, Charifou Orou Mousse, Jérémy Morceaux, Romuald Aufrère, Roland Chapuis, et al.. Dual occupancy and knowledge maps management for optimal traversability risk analysis. 26th International Conference on Information Fusion, Jun 2023, Charleston, SC, United States. ⟨hal-04159142⟩
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https://hal.science/hal-04159142/file/Fusion_Mohamed_2023.pdf BibTex

2020

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J.A. Guerrero, R. Chapuis, Romuald Aufrère, L. Malaterre, F. Marmoiton. Road Curb Detection using Traversable Ground Segmentation: Application to Autonomous Shuttle Vehicle Navigation. 2020 16th International Conference on Control, Automation, Robotics and Vision (ICARCV), Dec 2020, Shenzhen, France. pp.266-272, ⟨10.1109/ICARCV50220.2020.9305304⟩. ⟨hal-03438760⟩
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Abderrahim Kasmi, Johann Laconte, Romuald Aufrère, Ruddy Theodose, Dieumet Denis, et al.. An Information Driven Approach For Ego-Lane Detection Using Lidar And OpenStreetMap. The 16th International Conference on Control, Automation, Robotics and Vision, ICARCV 2020,, Dec 2020, Shenzhen, China. ⟨hal-03049719⟩
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https://uca.hal.science/hal-03049719/file/final_icarcv.pdf BibTex

2019

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Abderrahim Kasmi, Dieumet Denis, Romuald Aufrère, Roland Chapuis. Probabilistic framework for ego-lane determination. 2019 IEEE Intelligent Vehicles Symposium (IV), Jun 2019, Paris, France. pp.1746-1752, ⟨10.1109/IVS.2019.8813843⟩. ⟨hal-03049401⟩
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https://uca.hal.science/hal-03049401/file/IV.pdf BibTex
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Johann Laconte, C. Debain, Chapuis Roland, F. Pomerleau, R. Aufrere. Lambda-Field: a continuous counterpart of the bayesian occupancy grid for risk assessment. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nov 2019, Macau, China. ⟨hal-02609985⟩
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M. Ladhari, Romain Chapuis, R. Aufrere, C. Debain, L. Malaterre. Parsimonious vehicle localization architecture using a generic top-down fusion process. 22. International conference on information fusion, Jul 2019, Ottawa, Canada. ⟨hal-02609982⟩
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2018

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Kasmi Abderahim, Denis Dieumet, Romuald Aufrère, Chapuis Roland. Map matching and lanes number estimation with OpenStreetMap. IEEE International Conference on Intelligent Transportation Systems, Nov 2018, Hawï, United States. ⟨hal-01914271⟩
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Pierre Cyrille, Chapuis Roland, Romuald Aufrère, Laneurit Jean, Debain Christophe. Cooperative localization based on range-only measurements from robots and infrastructure. International Conference on Machine Control and Guidance, 2018, Vichy, France. ⟨hal-01914262⟩
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Abderrahim Kasmi, Dieumet Denis, Romuald Aufrère, Roland Chapuis. Map Matching and Lanes Number Estimation with Openstreetmap. 2018 21st International Conference on Intelligent Transportation Systems (ITSC), Nov 2018, Maui, France. pp.2659-2664, ⟨10.1109/ITSC.2018.8569840⟩. ⟨hal-03049723⟩
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https://uca.hal.science/hal-03049723/file/Map%20matching%20and%20lanes%20number%20estimation%20with%20OpenStreetMap.pdf BibTex
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Cyrille Pierre, Roland Chapuis, Romuald Aufrère, Jean Laneurit, Christopher Debain. Range-Only Based Cooperative Localization for Mobile Robots. 21st International Conference on Information Fusion (FUSION 2018), Jul 2018, Cambridge, United Kingdom. pp.1933-1939, ⟨10.23919/ICIF.2018.8455692⟩. ⟨hal-01887162⟩
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https://hal.science/hal-01887162/file/pierre2018.pdf BibTex
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C. Pierre, Romain Chapuis, R. Aufrere, J. Laneurit, C. Debain. Cooperative localization based on range-only measurements from robots and infrastructure. 6th International conference on machine control and guidance., Oct 2018, Berlin, Germany. ⟨hal-02608978⟩
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2017

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Romuald Aufrère, Laurent Delobel, Chapuis Roland, Serge Alizon. Multi-vehicles localization by using a georeferenced map and a top-down approach for automatic guidance. IEEE intelligent vehicle symposium, Jun 2017, Redondo Beach, United States. ⟨hal-01658450⟩
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Laurent Delobel, Romuald Aufrère, Chapuis Roland, Thierry Chateau, Christophe Debain. Towards Automated Map Updating for Mobile Robot Localization. IEEE Intelligent Vehicle Symposium, Jun 2017, Redondo Beach, United States. ⟨hal-01658454⟩
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2016

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Laurent Delobel, Romuald Aufrère, Roland Chapuis, Thierry Chateau. Efficient Fleet Absolute Localization and Environment Re-Mapping. IFAC Symposium on Intelligent Autonomous Vehicles, Jun 2016, Leipzig, Germany. pp.236 - 241, ⟨10.1016/j.ifacol.2016.07.741⟩. ⟨hal-01691397⟩
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Satoshi Fujimoto, Zhencheng Hu, Roland Chapuis, Romuald Aufrère. ORB-SLAM map initialization improvement using depth. 2016 IEEE International Conference on Image Processing (ICIP), Sep 2016, Phoenix, United States. ⟨10.1109/ICIP.2016.7532359⟩. ⟨hal-01691398⟩
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2015

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Coralie Bernay-Angeletti, Florian Chabot, Claude Aynaud, Romuald Aufrère, Roland Chapuis. A top-down perception approach for vehicle pose estimation. 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), Dec 2015, Zhuhai, China. ⟨10.1109/ROBIO.2015.7419107⟩. ⟨hal-01691401⟩
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Guillaume Bresson, Romuald Aufrère, Roland Chapuis. Improving SLAM with Drift Integration. IEEE 18th International Conference on Intelligent Transportation Systems, 2015, Las Palmas, Spain. ⟨10.1109/ITSC.2015.434⟩. ⟨hal-01351430⟩
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https://inria.hal.science/hal-01351430/file/2015-improving_slam_with_drift_integration.pdf BibTex
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Laurent Delobel, Claude Aynaud, Romuald Aufrère, Christophe Debain, Roland Chapuis, et al.. Robust localization using a top-down approach with several LIDAR sensors. 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), Dec 2015, Zhuhai, France. ⟨10.1109/ROBIO.2015.7419693⟩. ⟨hal-01691403⟩
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2014

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Claude Aynaud, Coralie Bernay-Angeletti, Chapuis Roland, Romuald Aufrère, Christophe Debain, et al.. Real-time vehicle localization by using a top-down process. 17th International Conference on Information Fusion, Jul 2014, Salamanca, Spain. ⟨hal-02098711⟩
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Claude Aynaud, Coralie Bernay-Angeletti, Roland Chapuis, Romuald Aufrère, Christophe Debain. Approche Top-Down de perception multisensorielle : application à la localisation de véhicules. Reconnaissance de Formes et Intelligence Artificielle (RFIA) 2014, Jun 2014, France. ⟨hal-00989213⟩
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https://hal.science/hal-00989213/file/rfia2014_submission_17.pdf BibTex
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Claude Aynaud, Coralie Bernay-Angeletti, Roland Chapuis, Romuald Aufrère, Christophe Debain. Vehicle localization by using a multi-modality top down approach. 2014 13th International Conference on Control Automation Robotics & Vision (ICARCV), Dec 2014, Singapore, France. pp.1415-1420, ⟨10.1109/ICARCV.2014.7064523⟩. ⟨hal-02098710⟩
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2013

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Lounis Adouane, Romuald Aufrère, Pierre Avanzini, Guillaume Bresson, Chapuis Roland, et al.. Safeplatoon: surete de convois de vehicules autonomes. In Proc. of Journees Nationales des Communications dans les Transport - JNCT, 2013, Paris, France. ⟨hal-01714842⟩
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Coralie Bernay-Angeletti, Claude Aynaud, Romuald Aufrère, Roland Chapuis. Stratégie de perception active pour l'interprétation de scènes : Application à une scène routière. Orasis, Congrès des jeunes chercheurs en vision par ordinateur, Jun 2013, Cluny, France. ⟨hal-00829440⟩
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https://hal.science/hal-00829440/file/36.pdf BibTex
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Guillaume Bresson, Romuald Aufrère, Roland Chapuis. Making visual SLAM consistent with geo-referenced landmarks. IEEE International Conference on Intelligent Vehicles, 2013, Gold Coast, Australia. ⟨10.1109/IVS.2013.6629525⟩. ⟨hal-01351421⟩
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https://inria.hal.science/hal-01351421/file/2013-making_visual_slam_consistent_with_geo_reference_landmarks.pdf BibTex
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Guillaume Bresson, Romuald Aufrère, Roland Chapuis. Consistent Multi-robot Decentralized SLAM with Unknown Initial Positions. 16th International Conference on Information FUSION, 2013, Istanbul, Turkey. ⟨hal-01351422⟩
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https://inria.hal.science/hal-01351422/file/2013-consistent_multi_robot_decentralized_slam_with_unknown_inital_positions.pdf BibTex
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Guillaume Bresson, Romuald Aufrère, Roland Chapuis. Loop Closing in a Drift-Aware Monocular SLAM. IFAC Intelligent Autonomous Vehicles Symposium, 2013, Gold Coast, Australia. ⟨10.3182/20130626-3-AU-2035.00049⟩. ⟨hal-01351419⟩
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https://inria.hal.science/hal-01351419/file/2013-loop_closing_in_a_drift_aware_monocular_slam.pdf BibTex

2012

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Guillaume Bresson, Thomas Féraud, Romuald Aufrère, Paul Checchin, Roland Chapuis. Parsimonious real time monocular SLAM. IEEE International Conference on Intelligent Vehicles, 2012, Alcalá de Henares, Spain. ⟨10.1109/IVS.2012.6232203⟩. ⟨hal-01351399⟩
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https://inria.hal.science/hal-01351399/file/2012-parsimonious_real_time_monocular_slam.pdf BibTex
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Guillaume Bresson, Romuald Aufrère, Roland Chapuis. Real-time Decentralized Monocular SLAM. International Conference on Control, Automation, Robotics and Vision, 2012, Guangzhou, China. ⟨10.1109/ICARCV.2012.6485297⟩. ⟨hal-01351403⟩
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https://inria.hal.science/hal-01351403/file/2012-real_time_decentralized_monocular_slam.pdf BibTex

2011

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Guillaume Bresson, Thomas Féraud, Romuald Aufrère, Paul Checchin, Roland Chapuis. A New Strategy for Feature Initialization in Visual SLAM. IEEE/RSJ International Conference on Intelligent Robots and Systems Workshop on Perception and Navigation for Autonomous Vehicles in Human Environment, 2011, San Francisco, United States. ⟨hal-01351394⟩
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https://inria.hal.science/hal-01351394/file/2011-a_new_strategy_for_feature_initialization_in_visual_slam.pdf BibTex

2005

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K.M. Hou, Jean-Pierre Chanet, François Pinet, F. Vigier, R. Aufrere, et al.. For an Inter Vehicle Communication System Intelligent: CIVIC. Colloque Société de l'information bilan du programme interdisciplinaire de recherche du CNRS 2001 - 2005, 19-20-21 mai 2005, Lyon, 2005, Lyon, France. pp.9. ⟨hal-02586300⟩
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2004

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Abdelaziz Amamra, Romuald Aufrère, Jean-Pierre Chanet, Gil de Sousa, Jian-Jin Li, et al.. A new adaptive zone filter to estimate RTT in manet. the 5th International Arab Conference on Information Technology, Dec 2004, Constantine, Algeria. ⟨hal-01804847⟩
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A. Amamra, R. Aufrere, Jean-Pierre Chanet, Gil de Sousa, J.J. Li, et al.. A New Adaptive Zone filter to estimate rtt in Manet. ACIT 2004, Constantine, ALG Décembre 2004, 2004, Constantine, Algeria. pp.7. ⟨hal-02583554⟩
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2002

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R. Chapuis, J. Laneurit, Romuald Aufrère, F. Chausse, T. Chateau. Accurate vision based road tracker. IV IEEE International Conference on Intelligent Vehicles, 2002, Unknown, Unknown Region. ⟨hal-01295894⟩
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J. Laneurit, Romain Chapuis, Christophe Cariou, R. Aufrere. Vehicle control using image cues recognition. 12th International Symposium on Measurement and Control in Robotics (ISMCR 2002), ENSIB de Bourges, 20-22 June 2002, 2002, France. pp.4. ⟨hal-02580896⟩
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2000

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R. Chapuis, Francois Marmoiton, Romuald Aufrère, F. Collange, J. Derutin. Road detection and vehicles tracking by vision for an on-board ACC system in the VELAC vehicle. Proceedings of the Third International Conference on Information Fusion, Jul 2000, Paris, France. pp.WEB5/11-WEB5/18 vol.2, ⟨10.1109/IFIC.2000.859833⟩. ⟨hal-02098258⟩
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Book sections

2005

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Haiying Zhou, Kun Mean Hou, J. Ponsonnaille, L. Gineste, Christophe de Vaulx, et al.. Real-time cardiac arrhythmia tele-Assistance and monitoring platform: RECATA. From Smart Homes to Smart Care ICOST 2005, 15, pp.99-106, 2005, Assistive Technology Research Series. ⟨hal-01788560⟩
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2004

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Haiying Zhou, Kun Mean Hou, J. Ponsonnaille, L. Gineste, J. Coudon, et al.. Remote continuous cardiac arrhythmias detection and monitoring. Transformation of Healthcare with Information Technologies, 105, pp.112-120, 2004, Studies in Health Technology and Informatics. ⟨hal-01788081⟩
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Other publications

2004

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H.Y. Zhou, K.M. Hou, J. Ponsonaille, L. Gineste, J. Coudon, et al.. Remote continuous cardiac arrhythmias detection and monitoring. Transformation of health care with information technologies, 2004, pp.112-120. ⟨hal-02589697⟩
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Reports

2004

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K.M. Hou, Jean-Pierre Chanet, François Pinet, F. Vigier, J.J. Li, et al.. Vers une Communication Inter Véhicule Intelligente Coopérative : CIVIC. irstea. 2004, pp.10. ⟨hal-02583331⟩
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Preprints, Working Papers, ...

2023

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Elie Randriamiarintsoa, Johann Laconte, Benoit Thuilot, Romuald Aufrère. Risk-Aware Navigation for Mobile Robots in Unknown 3D Environments. 2023. ⟨hal-04197811⟩
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https://hal.science/hal-04197811/file/itsc_2023_article.pdf BibTex