Papers by Bertrand Merminod
Un nouveau type de camera hyperspectrale permet de miniaturiser le systeme d'acquisition de d... more Un nouveau type de camera hyperspectrale permet de miniaturiser le systeme d'acquisition de donnees, qui peut etre installe sur un drone de taille modeste. Des lors, cette technologie devient accessible au grand public pour de nombreuses applications telles que l'agriculture de precision. Cet article presente la methodologie de la premiere campagne de mesure a large echelle sur une exploitation agricole produisant du mais dans la region centrale du Bresil, ainsi que les premiers resultats.
CISM journal, Oct 1, 1990
In the planning of a GPS survey, one of the basic tasks is to answer these questions: Which satel... more In the planning of a GPS survey, one of the basic tasks is to answer these questions: Which satellites should I observe? How long should I observe for? What time of day should I schedule observations? To answer such questions it is necessary to have an objective measure of the precision attainable for position determination by GPS techniques. At present, the indicators of precision commonly available are based on notions of relative satellite geometry as borrowed from GPS navigation principles, and are only of limited use in GPS surveying. In particular, for short baselines, the reliable resolution of the carrier cycle ambiguities during the phase reduction stage is the key to precise relative GPS surveying. The authors have developed a number of precision indicators for GPS surveying which could be used to maximise the probability of resolving ambiguities. The computation of these proposed indicators will assist in satellite selection and estimating the appropriate observation session times and length for GPS surveying. The utility of these indicators has been supported by studies that have shown that not only is the internal precision of the coordinate results maximised, but the sensitivity to systematic errors is also to a large extent reduced. Strategies for the use of these indicators are suggested.
Keywords: topotraj Reference TOPO-CONF-1999-007 Record created on 2004-12-16, modified on 2016-08-08
Le projet AGRAM, Acquisition d'une Geometrie de Reference des Axes de Maintenance, a ete init... more Le projet AGRAM, Acquisition d'une Geometrie de Reference des Axes de Maintenance, a ete initie parce que; Le projet SYRROU, Systeme de reperage spatial des donnees routieres, exprime qu'une geometrie precise de l'axe routier est indispensable pour utiliser les nouvelles technologies basees sur le GPS dans le domaine de la gestion de l'entretien routier. Les objectifs du projet AGRAM sont: Definir les besoins de precision de la geometrie de l'axe et des donnees routieres. Analyser les differentes sources de donnees geographiques qui permettront d'extraire la geometrie de l'axe de maintenance correspondant aux precisions exigees par les gestionnaires routiers. Etudier les techniques modernes d'acquisition de donnees a reference spatiale adaptees au lever routier en regard des exigences de precision et de fiabilite. Tester ces nouvelles technologies de lever pour l'acquisition de la geometrie des axes et proposer une methode adaptee pour la restitut...
On behalf of the Swiss Institute of Navigation (ION-CH) and the Ecole Polytechnique de Lausanne (... more On behalf of the Swiss Institute of Navigation (ION-CH) and the Ecole Polytechnique de Lausanne (EPFL), the pleasure is mine to welcome each of you to the European Navigation Conference. Organised annually under the umbrella of the European Group of Institutes of Navigation (EUGIN), ENC 2017 is the twenty-fifth conference in the series, and the second one in Switzerland following Geneva in 2007.
Keywords: topotraj Reference TOPO-ARTICLE-1996-007 Record created on 2004-12-16, modified on 2016... more Keywords: topotraj Reference TOPO-ARTICLE-1996-007 Record created on 2004-12-16, modified on 2016-08-08
Keywords: topotraj Reference TOPO-CONF-1998-007 Record created on 2004-12-16, modified on 2016-08-08
Keywords: topotraj Reference TOPO-CONF-2000-003 Record created on 2004-12-16, modified on 2016-08-08
Based on that methodology, algorithms for initial localization, continuous localization, and guid... more Based on that methodology, algorithms for initial localization, continuous localization, and guidance were created. Numerous tests with the participation of several persons have been provided in order to validate the algorithms and to show their performance, robustness and limits.
Facing the expansion of geolocation needs, illustrated by the GALILEO European project, the growt... more Facing the expansion of geolocation needs, illustrated by the GALILEO European project, the growth of Location Based Services (LBS) and the need to identify the location of emergency mobile phone calls in Europe (standard E112), the research on localization techniques is booming. This thesis focuses on indoor pedestrian navigation and investigates a localization solution based on micro-electromechanical systems (MEMS) and ultra-wideband waves (UWB). MEMS based localization estimates the current location from a previously determined position using on-board low-cost inertial embedded sensors. Unfortunately, the performances of these autonomous systems are affected by large errors (typical of these sensors). In fact standalone solutions drift rapidly with time. Impulse-Radio UWB (IR-UWB) Times Of Arrival (TOA) are often used for localization purposes. This network based technology uses sensor networks, mainly attached to the infrastructure of the building to estimate the location of the transmitter with decimetre accuracy in ideal scenarii. However the indoor environment is hostile for radio propagation. Full of artificial obstacles, electromagnetic waves are disturbed and radiolocation performances are reduced. Construction materials also affect the magnetic field used to estimate the pedestrian's walking direction. In this context, the hybridization of these two complementary and uncorrelated technologies is promising. The study of the movement pattern of a pedestrian walking indoors induces two main outcomes on localization techniques. Firstly, random pedestrian movements complicate MEMS signal processing. Secondly, when the transmitter is worn by the user, for example around the neck, IR-UWB that propagates through the human body can hardly contribute to the localization. Optimal data fusion filters that hybridize a large set of observations : Angles Of Arrival (AOA), Time Differences Of Arrival (TDOA), accelerations, angular velocities and magnetic field measurements are presented. The coupling of UWB and MEMS data relies on an Extended Kalman Filter (EKF) complemented with specific procedures. Loose integration and tight integration are considered. Outlier detection processes within the radio data enrich the EKF. The most remarkable process is based on the RANSAC paradigm and employs the physical constraints of the pedestrian's walk described by biomechanics. In some cases, it enables the processing of reflected radio signals. vii viii A user equipped with a MEMS module and an UWB transceiver walked in the premises of the EPFL, following nine independent paths, for a total length of 380 m. The benefit of the MEMS/UWB hybridization filters are evaluated based on this experiment. The tight integration outperforms the loose coupling and enables indoor pedestrian localization with a one metre accuracy.
Global Navigation Satellite System, GNSS, Genova, Italy, 1999
N =pïáëë=cÉÇÉê~ä=fåëíáíìíÉ=çÑ=qÉÅÜåçäçÖóI=dÉçÇÉíáÅ=båÖáåÉÉêáåÖ=i~Äçê~íçêó=adoI=NMNR=i~ìë~ååÉI=pïá... more N =pïáëë=cÉÇÉê~ä=fåëíáíìíÉ=çÑ=qÉÅÜåçäçÖóI=dÉçÇÉíáÅ=båÖáåÉÉêáåÖ=i~Äçê~íçêó=adoI=NMNR=i~ìë~ååÉI=pïáíòÉêä~åÇK= çåí~Åí=W=YèìÉåíáåKä~ÇÉííç]ÉéÑäKÅÜ[= fåíÉêåÉí=~í=YÜííéWLLÇÖêïïïKÉéÑäKÅÜLqlmlL[= O =råáîÉêëáíó=çÑ=i~ìë~ååÉI=fåëíáíìíÉ=çÑ=mÜóëáçäçÖóI=_ìÖåçå=TI=NMMR=i~ìë~ååÉI=pïáíòÉêä~åÇK= çåí~Åí=W=YóëÅÜìíò]áéÜóëáçäKìåáäKÅÜ[= fåíÉêåÉí=~í=YÜííéWLLïïïJäåÜKìåáäKÅÜLáéÜóëáçKÜíãä[= = = Integrate GPS/INS navigation systems is a common topic for aeronautical and road applications. The use of these technologies for personal localisation requires, more than ergonomics and portable sensors, a total other approach for dead reckoning algorithms. This paper will focus on different human applications and reveal the particular problematic encountered.
2014 6th Workshop on Hyperspectral Image and Signal Processing: Evolution in Remote Sensing (WHISPERS), 2014
The Leman-Baikal project constitutes an international Swiss-Russian collaborative research initia... more The Leman-Baikal project constitutes an international Swiss-Russian collaborative research initiative in the field of physical limnology. The three-year framework involves the development and deployment of a novel multispectral and hyperspectral remote sensing platform optimised for the sensing of land and water surfaces from an ultralight aircraft. In this paper we discuss the developed remote sensing methodology and the initial obtained results.
ABSTRACT Winning a ski competition requires not only talent but also sophisticated technologies t... more ABSTRACT Winning a ski competition requires not only talent but also sophisticated technologies that enable careful scrutiny and consequent improvement of technique and performance. To enhance those efforts, one group is developing a Global Navigation Satellite System–based tracking method, combined with accelerometry data, to precisely record a skier’s position and speed throughout a run. Alone or coupled with videography, this information permits close analysis of a course and a skier’s performance on any given run.
Pedestrian and Evacuation Dynamics 2008, 2010
The complementary nature of MEMS based pedestrian dead-reckoning (PDR) navigation and GNSS (Globa... more The complementary nature of MEMS based pedestrian dead-reckoning (PDR) navigation and GNSS (Global Navigation Satellite System) has long been recognised. The advantages are quite clear for those applications requiring indoor positioning and that, for one reason or another, cannot rely on short-range infrastructure-based positioning systems (e.g. WiFi, UWB) to cope with the lack of availability of GNSS indoors. One such example of application is firemen coordination during emergency interventions. Classification of human displacement using signal pattern recognition techniques often rely on an estimation model or statistical data to compute the step length or horizontal speed information. In general, an initial calibration phase is needed which can constrain the ability to follow the quasi-erratic behaviour of a pedestrian in real time. Moreover, existing state-of-the-art PDR solutions enable only the reconstruction of the 2D trajectory. This paper introduces a different approach to PDR navigation, in which pattern recognition is correlated to biomechanical principles and combined with fuzzy logic for detection and classification of a broader range of walking behaviours in 3D. Furthermore, to avoid the aforementioned limitations of stride length estimation, the step length is effectively computed by a simple inverse segment model during a specific phase of the gait cycle. Besides a description of the algorithm, this paper includes results of a real-time implementation capable of detecting/classifying four different types of steps: forward walk, stair climbing, stair descent forward and stair descent backward. This development has been conducted in the framework of the European project LIAISON [1, 2] funded by the Sixth Framework Program to specifically address one of its test case scenarios, the coordination of a fire brigade intervention.
2008 IEEE/ION Position, Location and Navigation Symposium, 2008
Abstract Indoor pedestrian navigation is probably a very challenging research area. In this conte... more Abstract Indoor pedestrian navigation is probably a very challenging research area. In this context, an optimal data fusion filter that hybridises a large set of observations: angles of arrival (AOA), time differences of arrival (TDOA), accelerations, angular velocities and ...
Medical & Biological Engineering & Computing, 2000
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Papers by Bertrand Merminod