Publications

Peer-Reviewed International Journals

• Caillot, A., Ouerghi, S., Dupuis, Y., Vasseur, P., Boutteau, R., (2024) : Multi-Agent Cooperative Camera-Based Semantic Grid Generation, Journal of Intelligent & Robotic Systems (JINT), (Accepted), (JCR IF=3.3).
• Evain, A., Mauri, A., Garnier, F., Kounouho, M., Khemmar, R., Haddad, M., Boutteau, R., Breteche, S., Ahmedali, S., (2023) : Improving the Efficiency of 3D Monocular Object Detection and Tracking for Road and Railway Smart Mobility, Sensors, 23(6), 3197, (JCR IF=3.9).
• Khemmar, R., Mauri, A., Dulompont, C., Gajula, j., Vauchey, V., Haddad, M., Boutteau, R., (2022) : Road and Railway Smart Mobility: A High-definition Ground Truth Hybrid Dataset, Sensors, 22(10), 3922, (JCR IF=3.9).
• Trabelsi, R., Khemmar, R., Decoux, B., Ertaud, J.Y., Boutteau, R., (2022) : STAF: Spatio-Temporal Attention Framework for Understanding Road Agents Behaviors, IEEE Access, vol. 10, pp. 55794-55804, (JCR IF=3.9).
• Trabelsi, R., Khemmar, R., Decoux, B., Ertaud, J.Y., Boutteau, R., (2022) : Recent Advances in Vision-Based On-Road Behaviors Understanding: A Critical Survey, Sensors, 22(7), Special Issue Perception Sensors for Road Applications, (JCR IF=3.9).
• Caillot, A., Ouerghi, S., Vasseur, P., Boutteau, R., Dupuis, Y., (2022) : Survey on Cooperative Perception in an Automotive Context, IEEE Transactions on Intelligent Transportation Systems (T-ITS), vol. 23, Issue 9 , (JCR IF=8.5).
• Mauri, A., Khemmar, R., Decoux, B., Haddad, M., Boutteau, R., (2022) : Lightweight Convolutional Neural Network for Real-Time 3D Object Detection in Road and Railway Environments, Journal of Real-Time Image Processing (JRTIP), 19, 499–516, (JCR IF=3).
• Nehme, H., Aubry, C, Solatges, T., Savatier, X., Rossi, R. and Boutteau, R., (2021) : LiDAR-based Structure Tracking for Agricultural Robots: Application to Autonomous Navigation in Vineyards, Journal of Intelligent & Robotic Systems (JINT), 103, 61, (JCR IF=3.3).
• Mauri, A., Khemmar, R., Decoux, B., Haddad, M., Boutteau, R., (2021) : Real-Time 3D Multi-Object Detection and Localization Based on Deep Learning for Road and Railway Smart Mobility, Journal of Imaging, 7(8), 145, Special Issue on Visual Localization, (JCR IF=3.2).
• Delamare, M., Duval, F., Boutteau, R., (2020) : A New Dataset of People Flow in an Industrial Site with UWB and Motion Capture Systems, Sensors, 20(16), 4511, (JCR IF=3.9).
• Mauri, A., Khemmar, R., Decoux, B., Ragot, N., Rossi, R., Trabelsi, R., Boutteau, R., Ertaud, J.Y., Savatier, X., (2020) : Deep Learning for Real Time 3D Multi-Object Detection, Localization, and Tracking : Application to Smart Mobility, Sensors, 20(2), (JCR IF=3.9).
• Boutteau, R., Rossi, R., Qin, L., Merriaux, P. , Savatier, X., (2020) : A vision-based system for robot localization in large industrial environments, Journal of Intelligent & Robotic Systems (JINT), vol. 99, Issue 2, pp 359-370, (JCR IF=3.3).
• Merriaux, P., Rossi, R., Boutteau, R., Vauchey, V., Qin, L., Chanuc, P., Rigaud, F., Roger, F., Decoux, B., Savatier, X., (2019) : The VIKINGS Autonomous Inspection Robot: Competing in the ARGOS Challenge, IEEE Robotics & Automation Magazine (IEEE-RAM), vol. 26, Issue 1, March 2019, pp 21-34, (JCR IF=5.7).
• Mhiri, R., Ouerghi, S., Boutteau, R., Vasseur, P., Mousset, S., Bensrhair, A., (2019) : Asynchronous Structure from Motion at Scale, Journal of Intelligent & Robotic Systems (JINT), vol. 96, Issue 2, November 2019, pp 159-177, (JCR IF=3.3).
• Lecrosnier, L., Boutteau, R., Vasseur, P., Fraundorfer, F., Savatier, X., (2019) : Camera pose estimation based on PnL with a known vertical direction, IEEE Robotics and Automation Letters (RA-L), vol. 4, Issue 4, October 2019, pp 3852-3859, (JCR IF=5.2).
• Delamare, M., Boutteau, R., Savatier, X., Iriart, N., (2019) : Static and dynamic evaluation of an UWB localization system for industrial applications, Sci, 1(3), 62.
• Merriaux, P., Dupuis, Y., Boutteau, R., Vasseur, P., Savatier, X., (2018) : Robust Robot Localization in a Complex Oil and Gas Industrial Environment, Journal of Field Robotics (JFR), vol. 35, Issue 2, March 2018, pp 213-230, (JCR IF=8.3).
• Boutteau, R., Sturm, P., Vasseur, P., Demonceaux, C., (2018) : Circular Laser/Camera-based attitude and altitude estimation: minimal and robust solutions, Journal of Mathematical Imaging and Vision (JMIV), vol. 60, Issue 3, pp 382-400, (JCR IF=2).
• Ouerghi, S., Boutteau, R., Tlili, F., Savatier, X., (2018) : Visual Odometry and Place Recognition Fusion for Vehicle Position Tracking in Urban Environments, Sensors, vol. 18, Issue 4, 939, (JCR IF=3.9).
• Ghorbel, E., Boutteau, R., Boonaert, J., Savatier, X., Lecoeuche, S., (2018) : Kinematic Spline Curves: A temporal invariant descriptor for fast action recognition, Image and Vision Computing (IVC), vol. 77, September 2018, pp 60-71, (JCR IF=4.7).
• Ghorbel, E., Boonaert, J., Boutteau, R., Lecoeuche, S., Savatier, X., (2018) : An extension of kernel learning methods using a modified Log-Euclidean distance for fast and accurate skeleton-based Human Action Recognition, Computer Vision and Image Understanding (CVIU), vol. 175, October 2018, pp 32-43, (JCR IF=4.5).
• Saurer, O., Vasseur, P., Boutteau, R., Demonceaux, C., Pollefeys, M., Fraundorfer, F., (2017) : Homography Based Egomotion Estimation with a Common Direction, IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI), February 2017, vol. 39, Issue 2, pp 327-341, (JCR IF=23.6).
• Bonardi, F. , Ainouz, S., Boutteau, R., Dupuis, Y., Savatier, X., Vasseur, P., (2017) : PHROG: A multimodal Feature for Place Recognition, Sensors, 17, 1167, (JCR IF=3.9).
• Merriaux, P., Dupuis, Y., Boutteau, R., Vasseur, P., Savatier, X., (2017) : A Study of Vicon System Positioning Performance, Sensors, 17, 1591, (JCR IF=3.9).
• Boutteau, R., Savatier, X., Ertaud, J.-Y., Mazari, B., (2009) : An Omnidirectional Stereoscopic System for Mobile Robot Navigation, Sensors & Transducers Journal, Special Issue on Robotic and Sensors Environments, vol. 5, pp 3-17.

Peer-Reviewed International Conferences

• Ouarab, S., Boutteau, R., Roméo, K., Lecomte, C., Laignel, A., Ragot, N., Duval, F., (2024) : Industrial Object Detection: Leveraging Synthetic Data for Training Deep Learning Models, International Conference on Industrial Engineering and Applications (ICIEA), Nice, France.
• El Moudni, A., Morbidi, F., Kramm, S., Boutteau, R., (2023) : An Event-based Stereo 3D Mapping and Tracking Pipeline for Autonomous Vehicles, IEEE International Conference on Intelligent Transportation Systems (ITSC), Bilbao, Spain.
• Zhou, Z., Wu, Z., Boutteau, R., Yang, F., Demonceaux, C., Ginhac, D., (2023) : RGB-Event Fusion for Moving Object Detection in Autonomous Driving, IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom.
• Caillot, A., Ouerghi, S., Vasseur, P., Dupuis, Y., Boutteau, R., (2022) : Multi-Agent Cooperative Camera-Based Evidential Occupancy Grid Generation, IEEE International Conference on Intelligent Transportation Systems (ITSC), Macau, China.
• Ennajar, A., Khouja, N., Boutteau, R., Tlili, F., (2021) : Deep Multi-modal object detection for Autonomous Driving, IEEE International Multi-Conference on Systems, Signals & Devices (SSD), Monastir, Tunisia.
• Mauri, A., Khemmar, R., Decoux, B., Ben Moumen, T., Haddad, M., Boutteau, R., (2021) : A Comparative Study of Deep Learning-based Depth Estimation Approaches: Application to Smart Mobility, International Conference on Smart Computing and Communications (ICSCC), Kochi, India.
• Nehme, H., Aubry, C, Rossi, R., Boutteau, R., (2021) : An anomaly detection approach to monitor the structure-based navigation in agricultural robotics, IEEE International Conference on Automation Science and Engineering (CASE), Lyon, France.
• Trabelsi, R., Khemmar, R., Boutteau, R., Decoux, B., Ertaud, J.Y., (2020) : Toward Comprehensive Road Agents Behavior Understanding, Colloque Francophone des Systèmes de Transports Intelligents (CSTI), Tunis, Tunisie.
• Ouerghi, S., Ragot, N., Boutteau, R., Savatier, X., (2020) : Comparative Study of a commercial tracking camera and ORB-SLAM2 for person localization, International Conference on Computer Vision Theory and Applications (VISAPP), Valletta, Malta.
• Mauri, A., Khemmar, R., Boutteau, R., Decoux, B., Ertaud, J.Y., Haddad, M., (2020) : A new Evaluation Approach for Deep Learning-based Monocular Depth Estimation Methods, IEEE International Conference on Intelligent Transportation Systems (ITSC), Rhodes, Greece.
• Merriaux, P., Rossi, R., Boutteau, R., Vauchey, V., Qin, L., Chanuc, P., Rigaud, F., Roger, F., Decoux, B., Savatier, X., (2019) : VIKINGS: An Autonomous Inspection Robot for the ARGOS Challenge, IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada.
• Lecrosnier, L., Boutteau, R., Vasseur, P., Fraundorfer, F., Savatier, X., (2019) : Camera pose estimation based on PnL with a known vertical direction, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China.
• Lecrosnier, L., Boutteau, R., Vasseur, P., Savatier, X., Fraundorfer, F., (2019) : Vision based vehicle relocalization in 3D line-feature map using Perspective-n-Line with a known vertical direction, IEEE International Conference on Intelligent Transportation Systems (ITSC), Auckland, New Zealand.
• Delamare, M., Boutteau, R., Savatier, X., Iriart, N., (2019) : Evaluation of an UWB localization system in Static/Dynamic, International Conference on Indoor Positioning and Indoor Navigation (IPIN) , Pisa, Italy.
• Ouerghi, S., Boutteau, R., Savatier, X., Tlili, F., (2017) : CUDA Accelerated Visual Egomotion Estimation for Robotic Navigation, International Conference on Computer Vision Theory and Applications (VISAPP), Porto, Portugal.
• Ouerghi, S., Boutteau, R., Tlili, F., Savatier, X., (2017) : CUDA-based SeqSLAM for Real-Time Place Recognition, International Conference on Computer Graphics, Visualization and Computer Vision (WSCG), Plzen, Czech Republic.
• Bonardi, F. , Ainouz, S., Boutteau, R., Dupuis, Y., Savatier, X., Vasseur, P., (2017) : A novel Global Image Description approach for Long Term Vehicle Localization, European Signal Processing Conference (EUSIPCO), Kos Island, Greece.
• Ouerghi, S., Boutteau, R., Merriaux, P., Ragot, N., Savatier, X., Vasseur, P., (2016) : Absolute Localization Using Visual Data for Autonomous Vehicles, International Conference on Computer Vision Theory and Applications (VISAPP), Rome, Italy.
• Ghorbel, E., Boutteau, R., Boonaert, J., Savatier, X., Lecoeuche, S., (2016) : A Fast and Accurate Motion Descriptor for Human Action Recognition Applications, International Conference on Pattern Recognition (ICPR), Cancun, Mexico.
• Mhiri, R., Vasseur, P., Mousset, S., Boutteau, R., Bensrhair, A., (2015) : Accurate Scale estimation based on unsynchronized camera network, IEEE International Conference on Image Processing (ICIP), Québec City, Canada.
• Ghorbel, E., Boutteau, R., Boonaert, J., Savatier, X., Lecoeuche, S., (2015) : 3D real-time human action recognition using a spline interpolation approach, International Conference on Image Processing Theory, Tools and Applications (IPTA), Orléans, France.
• Le Ménec, S., Lecointre, V., Boutteau, R., Savatier, X., Jaulin, L., (2014) : Robotic Demonstration of Collision Avoidance Based on Differential Games, International Symposium on Dynamic Games and Applications (ISDG), Amsterdam, The Netherlands.
• Mhiri, R., Vasseur, P., Mousset, S., Boutteau, R., Bensrhair, A., (2014) : Visual odometry with unsynchronized multi-cameras setup for intelligent vehicle application, IEEE Intelligent Vehicles Symposium (IV), Dearborn, Michigan, USA.
• Dupuis, Y., Merriaux, P., Subirats, P., Boutteau, R., Savatier, X., Vasseur, P., (2014) : GPS-based Preliminary Map Estimation for Autonomous Vehicle Mission Preparation, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, Illinois, USA.
• Merriaux, P., Boutteau, R., Vasseur, P., Savatier, X., (2014) : IMU/LIDAR based positioning of a gangway for maintenance operations on wind farms, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, Illinois, USA.
• Belbachir, A., Boutteau, R., Merriaux, P., Blosseville, J.M., Savatier, X., (2013) : From Autonomous Robotics Toward Autonomous Cars, IEEE Intelligent Vehicles Symposium (IV), Gold Coast, Australia.
• Boutteau, R., Savatier, X., Bonardi, F., Ertaud, J.Y., (2013) : Road-line detection and 3D reconstruction using fisheye cameras, IEEE International Conference on Intelligent Transportation Systems (ITSC), The Hague, The Netherlands.
• Boutteau, R., Savatier, X., Ertaud, J.Y., (2013) : A dynamic programming algorithm applied to omnidirectional vision for dense 3D reconstruction, IAPR Asian Conference on Pattern Recognition (ACPR), Naha, Okinawa, Japan.
• Savatier, X., Boutteau, R., Merriaux, P., Le Ménec, S., (2012) : Demonstration of the Salvo Enhanced No Escape Zone Concept using ground mobile robots, International Symposium on Dynamic Games and Applications (ISDG), Byšice, Czech Republic.
• Iraqui, A., Dupuis, Y., Boutteau, R., Ertaud, J. Y., Savatier, X., (2010) : Fusion of Omnidirectional and PTZ cameras for face detection & tracking, IEEE International Conference on Emerging Security Technologies, Canterbury, United Kingdom.
• Boutteau, R., Savatier, X., Ertaud, J.-Y., Mazari, B., (2008) : An omnidirectional stereoscopic system for mobile robot navigation, IEEE International Workshop on RObotic and Sensors Environments (ROSE), Ottawa, Canada.

Book chapters

• Ouerghi, S., Boutteau, R., Savatier, X., Tlili, F., (2019) : CUDA-accelerated Feature-based Egomotion Estimation, Computer Vision, Imaging and Computer Graphics – Theory and Applications, 12th International Joint Conference, VISIGRAPP 2017, Porto, Portugal, February 27 – March 1, 2017, Revised Selected Papers, Communications in Computer and Information Science, Springer.
• Boutteau, R., Savatier, X., Ertaud, J. Y., Mazari, B., (2010) : Chapter 1 : A 3D Omnidirectional Sensor For Mobile Robot Applications, Mobile Robots Navigation, In-Tech Book. ISBN : 978-953-307-076-6.

Peer-Reviewed National Conferences

• Zhou, Z., Wu, Z., Boutteau, R., Yang, F., Demonceaux, C., Ginhac, D., (2023) : Détection d'objets en mouvement dans un milieu urbain par fusion de données RVB et événementielles, Colloque GRETSI (GRETSI), Grenoble, France.
• Evain, A., Mauri, A., Garnier, F., Kounouho, M., Khemmar, R., Haddad, M., Boutteau, R., Breteche, S., Ahmedali, S., (2023) : Détection et suivi temps-réel d’objets 3D pour la smart mobilité routière et ferroviaire, ORASIS, journées francophones des jeunes chercheurs en vision par ordinateur (ORASIS), Carqueiranne, France.
• El Moudni, A., Kramm, S., Morbidi, F., Boutteau, R., (2023) : Suivi et estimation de profondeur avec un banc stéréo événementiel embarqué sur un véhicule autonome, ORASIS, journées francophones des jeunes chercheurs en vision par ordinateur (ORASIS), Carqueiranne, France.
• Mauri, A., Khemmar, R., Decoux, B., Ertaud, J.Y., Haddad, M., Boutteau, R., (2021) : Une nouvelle approche pour l'évaluation des méthodes monoculaires d'estimation de la profondeur basées sur l'apprentissage profond, ORASIS, journées francophones des jeunes chercheurs en vision par ordinateur (ORASIS), Lac de Saint-Ferréol, France.
• Merriaux, P., Boutteau, R., Rossi, R., Coru, G., Vauchey, V., Savatier, X., (2018) : Synchronisation et calibrage entre un Lidar 3D et une centrale inertielle pour la localisation précise d'un véhicule autonome, Journées scientifiques d'URSI-France (URSI), Meudon, France.
• Bonardi, F. , Ainouz, S., Boutteau, R., Dupuis, Y., Savatier, X., Vasseur, P., (2017) : Localisation visuelle multimodale à long terme, Colloque GRETSI (GRETSI), Juan-Les-Pins, France.
• Ghorbel, E., Boutteau, R., Boonaert J., Savatier, X., Lecoeuche, S., (2016) : Vers une reconnaissance en ligne d'actions à partir de caméras RGB-D, Reconnaissance de Formes et Intelligence Artificielle (RFIA), Clermont Ferrand, France.
• Merriaux, P., Dupuis, Y., Boutteau, R., Vasseur, P., Savatier, X., (2016) : Correction de nuages de points lidar embarqué sur véhicule pour la reconstruction d'environnement 3D vaste, Reconnaissance de Formes et Intelligence Artificielle (RFIA), Clermont Ferrand, France.
• Datondji, R., Ragot, N., Nasri, Y., Khemmar, R., Boutteau, R., (2015) : Odométrie visuelle par vision omnidirectionnelle pour la navigation autonome d'une chaise roulante motorisée, ORASIS, journées francophones des jeunes chercheurs en vision par ordinateur (ORASIS), Amiens, France.
• Mhiri, R., Vasseur, P., Mousset, S., Boutteau, R., Bensrhair, A., (2015) : Estimation du mouvement et de la structure à l'échelle absolue à partir d'un réseau multi-caméras non synchronisées, ORASIS, journées francophones des jeunes chercheurs en vision par ordinateur (ORASIS), Amiens, France.
• Merriaux, P., Dupuis, Y., Boutteau, R., Vasseur, P., Savatier, X., (2015) : Localisation robuste en milieu industriel complexe, Colloque GRETSI (GRETSI), Lyon, France.
• Merriaux, P., Boutteau, R., Vasseur, P., Savatier, X., (2014) : Algorithme de positionnement d'une passerelle à mouvements compensés à partir de mesures inertielles et lidar pour les opérations de maintenance des parcs éoliens offshore, Reconnaissance de Formes et Intelligence Artificielle (RFIA), Rouen, France.
• Mhiri, R., Vasseur, P., Mousset, S., Boutteau, R., Bensrhair, A., (2014) : Estimation à l'échelle du mouvement d'un réseau multi-caméras non synchronisées, Reconnaissance de Formes et Intelligence Artificielle (RFIA), Rouen, France.

Thesis

• Boutteau, R., (2018) : Contribution à la localisation pour le véhicule autonome, Habilitation à Diriger des Recherches (French Habilitation to supervise research), Université de Rouen Normandie.
• Boutteau, R., (2010) : Reconstruction tridimensionnelle de l'environnement d'un robot mobile, à partir d'informations de vision omnidirectionnelle, pour la préparation d'interventions, Thèse de doctorat (PhD Thesis), Université de Rouen Normandie.
• Boutteau, R., (2006) : Étude des méthodes d'estimation du mouvement dans des séquences d'images prises par une caméra embarquée sur un véhicule, Projet de Fin d'Etudes (Graduation Project), Ecole des Mines de Douai.
• Boutteau, R., (2006) : Étude des méthodes d'estimation du mouvement dans des séquences d'images prises par une caméra embarquée sur un véhicule, Rapport de stage Master 2 (Master Thesis), Université des Sciences et Technologies de Lille (USTL).