PhD studentship at Institute of Intelligent Systems and Robot

PhD studentship available at Institute of Intelligent Systems and Robotics
University of Paris 6 (www.upmc.fr)

The position is available within the framework an interdisciplinary project HuPer and Lunettes Intelligentes on "Cognitive navigation in space ; application to design of mobility assistance for visually impaired". Cooperation with London University (professor Steve Maybank).
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Project summary. ISIR (Institute of Intelligent Systems & Robotics) (former Laboratoire de
Robotique de Paris,) of Paris 6 University studies neuro-cognitive human-space interaction in order to design and realize prototypes of intelligent systems, robotics and mechatronics systems, highly autonomous and/or able to assist healthy and handicapped (especially visually impaired), in performing everyday life tasks. The provision of autonomous mobility for the visually impaired is a difficult but important societal problem. Solutions based on GPS and a digital map of the environment are not suitable because of the low, 10m, precision of GPS, poor satellite
signal reception in urban areas and indoors, and the difficulty of responding to changes in the environment. Artificial vision in the form of SLAM (Simultaneous Localization and Mapping) provides a satisfactory solution for autonomous mobile robots. However, SLAM is not suitable for assisting the visually impaired, because human navigation is far more complex than that of a mobile robot. Human navigation leads to the definition of natural visual SLAM (SLAM-VN). SLAM-VN is a simulation of the visual perception-motion loop, including feedback from inertial
sensors to the imaging system, in analogy with the human vestibulo-ocular feedback.

This should reinforce the robustness of classical stereovision systems and solve the problem of the spatio-temporal instabilities caused by uneven ground and by sudden and unpredictable human movements. This thesis aims to define precisely the concept of SLAM-VN and model it in
hardware and software. We will use the ISIR convergent stereovision system to which we will add an inertial system, which will play the role analogous to the human vestibular system. The combined system is named intelligent glasses (IG). One of challenges of the IG system is the
correct synchronization and fusion of the visual information and the inertial information. The information about the environment obtained by SLAM-VN will be used for object recognition and tracking, and obstacle detection.

The Fisher-Rao metric will be used to quantify the accuracy with which the objects and obstacles can be described. This will lead to the design of new vision processing algorithms, never investigated before. 3D object localization (precision of ~ 0.5 m) will be established via
RANSAC type algorithms. Object tracking will use a classical approach such as a particle filter. The SLAM-VN model will be validated by experiments, including navigation in real environments by both the visually impaired and by the robot iCUB (European humanoid robotic platform of ISIR laboratory). The interface for visually impaired will include a touch stimulating interface upon which obstacles will be displayed Key words: visual perception, stereo, inertial data, data fusion, localization, object recognition, Fisher-Rao metric, RANSAC, particle filter,visually impaired mobility assistance

• Starting date: October 2009
• Duration: 3 years
• Required education: Master in Computer Science, or Robotics, or Intelligent Systems, or Cognitive Science, or Human/animal Physiology/Biology obtained in 2009 in a European Union University;
• Be 26 year old or less
• Required skills: Programming in C and C++; good level of written/spokenEnglish (French not required)
• Experience/studies in computer vision, image processing, robotics, VLSI is an advantage.
• The successful candidate will be hired as PhD student and receive Ministry of Education scholarship with social benefits.

Deadline for application : June 28, 2009 (first preslection) , July 2st (final application)

If interested, please post, e-mail (pdf format only), or fax:
for preselection

1. C.V.
2. Copy of original study certificates with list of exams, grades, and scale (indicate min, max, and pass threshold) for Master
3. Copy of international publications, if any (max 3)

For final application

1. C.V.
2. Motivation letter (career plan, motivation for PhD, statement of research interest)
3. Copy of original study certificates with list of exams, grades, and scale (indicate min, max, and pass threshold) for Master
4. Contact addresses of two reference persons
5. Copy of international publications, if any (max 3)

to:

Prof. Edwige Pissaloux
ISIR
Université Paris 6
Contact : Edwige.Pissaloux@ upmc.fr
Fax : + 33 2 32 10 69 90

Given the high number of applications and enquiries, further information can be provided only to applicants who have submitted all items listed above.