Team
CAOR
Biography
Cyril Joly is a researcher specializing in the fields of mobile robotics, localization, and perception for autonomous systems. His work focuses on developing innovative methods for semantic LiDAR segmentation, sensor fusion (vision, Wi-Fi, magnetometers, inertial sensors), and the optimization of real-time localization algorithms, particularly in constrained or dynamic environments. His research addresses challenges such as sensor calibration, magnetic field modeling for indoor navigation, and the integration of multi-source data to improve the robustness of SLAM (Simultaneous Localization and Mapping) systems. His contributions include hybrid approaches combining deep learning, probabilistic filtering, and geometric methods, with a particular focus on computational efficiency and adaptability to embedded platforms.
Publication(s)
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2025
HARP-NeXt: High-Speed and Accurate Range-Point Fusion Network for 3D LiDAR Semantic Segmentation DOI : 10.1109/IROS60139.2025.11246557
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2024
Large Scale Mapping of Indoor Magnetic Field by Local and Sparse Gaussian Processes
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2023
MagHT: A Magnetic Hough Transform for Fast Indoor Place Recognition DOI : 10.1109/IROS55552.2023.10342269
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2022
Vision and Wi-Fi fusion in probabilistic appearance-based localization DOI : 10.1177/0278364920910485
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2022
Tightly-Coupled Magneto-Visual-Inertial Fusion for Long Term Localization in Indoor Environment DOI : 10.1109/LRA.2021.3136241
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2022
Online Magnetometer Calibration in Indoor Environments for Magnetic field-based SLAM DOI : 10.1109/IPIN54987.2022.9917514
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2020
Vehicle Absolute Ego-Localization from Vision, Using Only Pre-existing Geo-Referenced Panoramas DOI : 10.1007/978-3-030-44610-9_1
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2019
Urban localization with street views using a convolutional neural network for end-to-end camera pose regression DOI : 10.1109/IVS.2019.8813892
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2019
Seamless navigation and mapping using an INS/GNSS/grid-based SLAM semi-tightly coupled integration scheme DOI : 10.1016/j.inffus.2019.01.004
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2019
An LSTM network for real-time odometry estimation DOI : 10.1109/IVS.2019.8814133
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2019
Evidential SLAM Fusing 2D Laser Scanner and Stereo Camera DOI : 10.1142/S2301385019410012
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2019
Deep Sensor Fusion for Real-Time Odometry Estimation DOI : 10.1109/IROS40897.2019.8967803
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2018
Grid Matching Localization on Evidential SLAM DOI : 10.1109/ICARCV.2018.8581065
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2018
Fusing Laser Scanner and Stereo Camera in Evidential Grid Maps DOI : 10.1109/ICARCV.2018.8580635
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2017
Nonurban driver assistance with 2D tilting laser reconstruction DOI : 10.1061/(ASCE)SU.1943-5428.0000238
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2017
Topological localization using Wi-Fi and vision merged into FABMAP framework DOI : 10.1109/IROS.2017.8206171
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2016
Improving robustness of monocular urban localization using augmented street view DOI : 10.1109/ITSC.2016.7795603
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2016
Monocular urban localization using street view DOI : 10.1109/ICARCV.2016.7838744
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2016
Control of a slide flute: A mechatronic project DOI : 10.1145/2948910.2948921
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2011
Self calibration of a vision system embedded in a visual SLAM framework DOI : 10.1109/IROS.2011.6048678
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2010
Bearing-only SAM using a minimal inverse depth parametrization: Application to omnidirectional SLAM
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2009
Building consistent local submaps with omnidirectional SLAM DOI : 10.1109/ICCVW.2009.5457550
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2008
Comparative study of Extended Kalman Filter, Linearised Kalman Filter and Particle Filter applied to low-cost GPS-based hybrid positioning system for land vehicles DOI : 10.1504/IJIIDS.2008.018252
Teaching
Course 1, 2, or 3 - (PI IDS)
Touchdown/Touchdown (Pass Interference IDS)
Project (PI IDS)
PhD supervision
- 2025 Simultaneous Localization and Mapping with Traversability Information in Unstructured Environments CALZAS Julien
- 2024 Incremental 3D reconstruction based on a neural representation DAIRE Nicolas
- 2022 Magneto-visual-inertial fusion for indoor localization ABDUL RAOUF IAD
- 2022 Deep neural networks for semantic segmentation of 3D point clouds adapted to embedded architectures for autonomous mobile and robotic systems ABOU HAIDAR Samir
- 2020 Indoor localization by magneto-visual-inertial SLAM COULIN Jade
- 2020 High-resolution automotive radar data processing using deep learning techniques inspired by computer vision ZHOU ZHUYUN
- 2017 SLAM and sensor fusion for autonomous vehicles ANDRADE VALENTE DA SILVA Michelle
- 2016 Localization of a humanoid robot in unconstrained indoor environments NOWAKOWSKI Mathieu