Author name cluster

Pierre Boulanger

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

5 papers

2 author rows

AAAI Conference 2024 Conference Paper

Grey-Box Bayesian Optimization for Sensor Placement in Assisted Living Environments

Shadan Golestan
Omid Ardakanian
Pierre Boulanger

Optimizing the configuration and placement of sensors is crucial for reliable fall detection, indoor localization, and activity recognition in assisted living spaces. We propose a novel, sample-efficient approach to find a high-quality sensor placement in an arbitrary indoor space based on grey-box Bayesian optimization and simulation-based evaluation. Our key technical contribution lies in capturing domain-specific knowledge about the spatial distribution of activities and incorporating it into the iterative selection of query points in Bayesian optimization. Considering two simulated indoor environments and a real-world dataset containing human activities and sensor triggers, we show that our proposed method performs better compared to state-of-the-art black-box optimization techniques in identifying high-quality sensor placements, leading to an accurate activity recognition model in terms of F1-score, while also requiring a significantly lower (51.3% on average) number of expensive function queries.

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ICRA Conference 2008 Conference Paper

Perception of haptic force magnitude during hand movements

Xing-Dong Yang
Walter F. Bischof
Pierre Boulanger

Haptic interfaces are used increasingly in medical systems and related applications, but relatively little is known on the effectiveness of these interfaces. This paper reports a study on the perception of haptic force magnitude during hand movements. Discrimination thresholds were determined for a reference force of 1. 5N in five different directions (0°, 45°, 90°, 135°, and 180°) with respect to the movement direction. We found that force discrimination thresholds detected were significantly higher during hand movement than those reported previously without hand movement, indicating that the perception of force magnitude is impaired by hand movement. The results also show there is no significant difference between the discrimination thresholds found for fast (28mm/s) and slow (14mm/s) hand movements. Finally, we found that the perception of force magnitude is impaired at a force direction of 45° with respect to the hand movement, indicating the existence of an oblique effect.

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ICRA Conference 2002 Conference Paper

Automated Inspection System using Range Data

Flavio Prieto
Pierre Boulanger
Richard Lepage
Tanneguy Redarce

We propose an automated inspection system of manufactured parts using a cloud of 3D measured points of a part provided by a range sensor, and its CAD model. Inspection consists in verifying the accuracy of a part related to a given set of tolerances. It is thus necessary that the 3D measurements be accurate. In the 3D capture of a part, several sources of error can alter the measured values. So, we have to find and model the most influential parameters affecting the accuracy of the range sensor in the digitalization process. This model is used to produce a sensing plan to acquire accurately the geometry of a part. By using the noise model, we introduce a dispersion value for each 3D point acquired. This value of dispersion is shown as a weight factor in the inspection results.

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ICRA Conference 2000 Conference Paper

Beyond Range Sensing: XYZ-RGB Digitizing and Modeling

Marc Rioux
François Blais
J. -Angelo Beraldin
Guy Godin
Pierre Boulanger
Michael A. Greenspan

Discusses the progress and the evolution of the development of range sensing techniques at the NRC laboratories. Essentially a 3D imaging project at the beginning, it has evolved to a new media project which requires the development of new tools for 3D modeling, editing, database searching and visualization. Generic applications related to documentation, inspection, target tracking and visual communication will be discussed.

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ICRA Conference 1990 Conference Paper

Multiscale edge detection and classification in range images

H. M. Cung
Paul Cohen 0001
Pierre Boulanger

An edge detection and classification scheme for range images which produces a multiscale representation in terms of well-localized depth and orientation edges is presented. The extraction is accomplished by detecting the presence of significant edges at a coarse scale and then determining their precise location by tracking them over decreasing scale. An adaptive multiscale thresholding is applied during this focusing process ro inhibit the attraction of insignificant details. Once focused, the edges are classified into the categories of true edge and diffuse edge by invoking classification rules derived from a mathematical analysis of edge displacement and branching over scale-space. Experimental results illustrate the robustness of the approach in the presence of noise and its performance with synthetic and real images of varying complexity. Comparisons with recently published techniques point out the improved performance of the approach, especially when the images contain substantially overlapping objects. >

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