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<div>PhD position: Dynamic robot localization through
event-based vision and 3D point cloud blending<br>
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<p
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align="left">#Location: 18 months in Tsukuba,
Japon and 18 months in Dijon, France<br>
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align="left">#Host institutions: Institut Pascal</p>
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align="left">#Starting Date: October 1s, 2024<br>
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align="left">#Funding Duration: 36 months (3
years)</p>
<p
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align="left">#Supervisors: Dr. HDR. Guillaume
Caron, Dr. Carlos Mateo and Prof. Cédric
Demonceaux.</p>
<p
style="color: rgb(0, 0, 0); font-family: arial, helvetica, sans-serif; font-size: 12pt; margin: 0px; line-height: 100%; orphans: 2; widows: 2;"
align="left">#Application Deadline: May 24th,
2024</p>
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align="left"><br>
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<p
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align="left">#Context:</p>
The VAI team of ICB laboratory at the UB in Dijon,
France, is a partner of the ANR PRCI EVELOC
project. EVELOC focuses on providing new 3D
event-based visual localization methods in the
field of robotics. Event-based cameras are a novel
bio-inspired type of sensor with low latency and
wide dynamic range. These sensors asynchronously
activate individual pixels to detect changes in
light intensity, similar to natural visual
sensors. One of VAI’s most recent works in this
area is dedicated to object detection for
autonomous vehicles [1].</div>
<div style="" class="11">The Joint Robotics
Laboratory (JRL) at AIST in Tsukuba, Japan, is the
other partner of EVELOC. JRL is focused on 3D
point cloud-based object detection for robots.
Especially, JRL is working on object pose tracking
tasks in dynamical conditions by directly aligning
dense 3D point clouds reconstructed from images of
intensity variations calculated from events [2].
Developed methods are aimed at manipulation tasks
using humanoid robots [3].<br>
</div>
<div style="" class="11">This thesis will leverage
large-scale 3D environment point clouds [4] to
propose new efficient and robust algorithms for
directly aligning events captured by a moving
camera on these 3D point clouds. It will take
place over 18 months in Japan, funded by AIST,
then 18 months in France, funded by ANR.</div>
<div style="" class="11">The student will implement
and evaluate their research work first on
event-based cameras (Prophesee Gen 3 and 4)
mounted on quadruped robots (Unitree Alien Go) and
bipedal robots (HRP-5P) provided by the
supervising team. Obtained results will be
published in top-tier venues (T-RO, IJCV, ICRA,
IROS, ICCV, etc).</div>
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</div>
<div style="" class="11">#Objective:</div>
<div style="" class="11">The goal is to localize a
drone equipped with an event camera in an
environment described by a 3D point cloud. This
topic is part of the ANR PRCI EVELOC project,
which focuses on the visual localization of robots
equipped with event cameras. It also contributes
to strength the collaboration between the ICB UMR
CNRS laboratory (France) and the JRL UMI CNRS/AIST
(Japan).<br>
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align="left"><br>
</p>
<p
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align="left">#Research:</p>
<p
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align="left">We are looking for one highly
motivated PhD student to study multimodal robot
localization on high dynamic scenarios<br>
</p>
<p
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align="left">The PhD student will focus on three
open problems:</p>
<p
style="color: rgb(0, 0, 0); font-family: arial, helvetica, sans-serif; font-size: 12pt; margin: 0px; line-height: 100%; orphans: 2; widows: 2;"
align="left">1. Event-based camera calibration;
</p>
<p
style="color: rgb(0, 0, 0); font-family: arial, helvetica, sans-serif; font-size: 12pt; margin: 0px; line-height: 100%; orphans: 2; widows: 2;"
align="left">2. Align 3D point cloud and
event-based images;</p>
<p
style="color: rgb(0, 0, 0); font-family: arial, helvetica, sans-serif; font-size: 12pt; margin: 0px; line-height: 100%; orphans: 2; widows: 2;"
align="left"> 3. Localize a drone in high
dynamic scenarios<br>
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The recruited person will have access to all the
necessary equipment to implement their scientific
contributions (computer, computing center,
cameras, etc.). They will start their thesis in
Japan and continue after 18 months in France. The
thesis is funded by the ANR EVELOC project (50%)
and Japanese funding (50%).</div>
<div style="" class="11"><br>
<p
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align="left"># References</p>
<p
style="color: rgb(0, 0, 0); font-family: arial, helvetica, sans-serif; font-size: 12pt; margin: 0px; line-height: 100%; orphans: 2; widows: 2;"
align="left">[1] Z. Zhou, Z. Wu, R. Boutteau, F.
Yang, C. Demonceaux and D. Ginhac. RGB-Event
Fusion for Moving Object Detection in Autonomous
Driving. IEEE International Conference on
Robotics and Automation, 2023, London, United
Kingdom, pp. 7808-7815.<br>
[2] Y. Kang, G. Caron, et al.. Direct 3D
model-based object tracking with event camera by
motion interpolation. IEEE Int. Conference on
Robotics and Automation, May 2024, Yokohama,
Japan.<br>
[3] K. Chappellet, M. Murooka, G. Caron, F.
Kanehiro, A. Kheddar. Humanoid
Loco-Manipulations using Combined Fast Dense 3D
Tracking and SLAM with Wide-Angle Depth-Images.
IEEE Transactions on Automation Science and
Engineering, 2023.<br>
[4] I. Ben Salah, S. Kramm, C. Demonceaux, P.
Vasseur. Summarizing large scale3D mesh for
urban navigation. Robotics and Autonomous
Systems, vol. 152, art. num. 104037, 2022.</p>
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align="left">#The ideal candidate must have:</p>
1/ a master's degree or equivalent in computer
science or another relevant field,<br>
2/ an excellent academic record,<br>
3/ strong experience in robotics and/or computer
vision,<br>
4/ excellent skills in mathematics and coding
(C/C++, Matlab, ROS, Python),<br>
5/ excellent written and oral communication skills
in English,<br>
6/ enthusiasm for research, teamwork spirit, and
the ability to solve problems independently.</div>
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align="left">#Application:</p>
<p
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align="left">Applicants must submit</p>
<p
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align="left">1/ a one-page cover letter,</p>
<p
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align="left">2/ curriculum vitae with
publications list and contacts of 2 references,</p>
<p
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align="left">3/ a copy of academic transcripts
(bachelor/master grades),</p>
<p
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align="left">4/ availability (the earliest
feasible starting date).</p>
<p
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align="left"><br>
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<p
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align="left">Applicants must be prepared to
provide two reference letters upon request.</p>
<p
style="color: rgb(0, 0, 0); font-family: arial, helvetica, sans-serif; font-size: 12pt; margin: 0px; line-height: 100%; orphans: 2; widows: 2;"
align="left">Once we receive your application
and it fits well for the position, you will be
contacted within two weeks.</p>
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align="left"><br>
</p>
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align="left">Applications should be sent, *in a
single PDF document*, with the email subject
[PhD application] to:</p>
<p
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align="left"><a
class="moz-txt-link-abbreviated moz-txt-link-freetext"
href="mailto:cedric.demonceaux@u-bourgogne.fr">cedric.demonceaux@u-bourgogne.fr</a>;
<a
class="moz-txt-link-abbreviated moz-txt-link-freetext"
href="mailto:guillaume.caron@u-picardie.fr">guillaume.caron@u-picardie.fr</a>;
<a
class="moz-txt-link-abbreviated moz-txt-link-freetext"
href="mailto:carlos-manuel.mateo-agullo@u-bourgogne.fr">carlos-manuel.mateo-agullo@u-bourgogne.fr</a></p>
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