François Pomerleau

• Centre de recherche en Robotique, Vision et Intelligence Machine
• Institut Intelligence et Données

Financements des 2 dernières années

• Dawn Gupta, Maîtrise en informatique - avec mémoire
• Effie Daum, Doctorat en informatique
• Luc Coupal, Maîtrise en informatique - avec mémoire
• Luc Coupal, Doctorat en informatique
• Matej Boxan, Doctorat en informatique
• Mathis Turgeon-Roy, Maîtrise en informatique - avec mémoire
• Nicolas Lauzon, Maîtrise en informatique - avec mémoire
• Nicolas Samson, Maîtrise en informatique - avec mémoire
• Nicolas Samson, Doctorat en informatique
• Simon-Pierre Deschênes, Doctorat en informatique
• Veronica Vannini, Stage postdoctoral en informatique
• Vincent Grondin, Maîtrise en informatique - avec mémoire
• William Dubois, Maîtrise en informatique - avec mémoire
• William Dubois, Doctorat en informatique
• William Fecteau, Maîtrise en informatique - avec mémoire
• William Guimont-Martin, Doctorat en informatique

Encadrements des 5 dernières années

• Damien LaRocque, Maîtrise en informatique - avec mémoire
• Dominic Baril, Maîtrise en informatique - avec mémoire
• Dominic Baril, Doctorat en informatique
• Johann Laconte, Stage postdoctoral en informatique
• Maxime Vaidis, Doctorat en informatique
• Simon-Pierre Deschênes, Maîtrise en informatique - avec mémoire

Travaux de recherche des 5 dernières années

FoMo: A multi-season dataset for robot navigation in Forêt Montmorency The International Journal of Robotics Research, 2026. Matěj Boxan, Gabriel Jeanson, Alexander Krawciw, Effie Daum, Xinyuan Qiao, Sven Lilge, Timothy D Barfoot, François Pomerleau. DOI 10.1177/02783649261491481

Stretch-ICP: A Continuous-Trajectory Registration and Deskewing Algorithm in Scenarios of Aggressive Motions Sensors, 2026. Simon-Pierre Deschênes, Veronica Vannini, Philippe Giguère, François Pomerleau. DOI 10.3390/s26082567

SilvaScenes: Tree Detection and Species Classification from Under-Canopy Images in Natural Forests ArXiv, 2026. Duclos, David-Alexandre, Guimont-Martin, William, Jeanson, Gabriel, Larochelle-Tremblay, Arthur, Lapointe, Martine, Defosse, Théo, Moore, Frédéric, Nolet, Philippe, Pomerleau, François, Giguère, Philippe.

Reproducible Evaluation of Camera Auto-Exposure Methods in the Field: Platform, Benchmark, and Lessons Learned IEEE Transactions on Field Robotics, 2025. Olivier Gamache, Jean-Michel Fortin, Matěj Boxan, François Pomerleau, Philippe Giguère. DOI 10.1109/TFR.2025.3566694

DRIVE Through the Unpredictability: From a Protocol Investigating Slip to a Metric Estimating Command Uncertainty IEEE Transactions on Field Robotics, 2025. Nicolas Samson, William Larrivée-Hardy, William Dubois, Élie Roy-Brouard, Edith Brotherton, Dominic Baril, Julien Lépine, François Pomerleau. DOI 10.1109/TFR.2025.3580397

On the importance of quantifying visibility for autonomous vehicles under extreme precipitation Towards Human-Vehicle Harmonization, 2023. Courcelle, C., Baril, D., Pomerleau, F., Laconte, J.. DOI 10.1515/9783110981223-018

Extrinsic calibration for highly accurate trajectories reconstruction Proceedings - IEEE International Conference on Robotics and Automation, 2023. Vaidis, M., Dubois, W., Guenette, A., Laconte, J., Kubelka, V., Pomerleau, F.. DOI 10.1109/ICRA48891.2023.10160505

RTS-GT: Robotic Total Stations Ground Truthing dataset arXiv, 2023. Vaidis, M., Shahraji, M.H., Daum, E., Dubois, W., Giguère, P., Pomerleau, F.. DOI 10.48550/arXiv.2309.11935

Benchmarking ground truth trajectories with robotic total stations arXiv, 2023. Daum, E., Vaidis, M., Pomerleau, F.. DOI 10.48550/arXiv.2309.05134

DRIVE: Data-driven Robot Input Vector Exploration arXiv, 2023. Baril, D., Deschênes, S.-P., Coupal, L., Goffin, C., Lépine, J., Giguère, P., Pomerleau, F.. DOI 10.48550/arXiv.2309.10718

Uncertainty analysis for accurate ground truth trajectories with robotic total stations arXiv, 2023. Vaidis, M., Dubois, W., Daum, E., LaRocque, D., Pomerleau, F.. DOI 10.48550/arXiv.2308.01553

Exposing the Unseen: Exposure Time Emulation for Offline Benchmarking of Vision Algorithms arXiv, 2023. Gamache, O., Fortin, J.-M., Boxan, M., Pomerleau, F., Giguère, P.. DOI 10.48550/arXiv.2309.13139

Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge IEEE Transactions on Robotics, 2023. Ebadi, K., Bernreiter, L., Biggie, H., Catt, G., Chang, Y., Chatterjee, A., Denniston, C.E., Deschenes, S., Harlow, K., Khattak, S., Nogueira, L., Palieri, M., Petracek, P., Petrlik, M., Reinke, A., Kratky, V., Zhao, S., Agha-mohammadi, A., Alexis, K., Heckman, C., Khosoussi, K., Kottege, N., Morrell, B., Hutter, M., Pauling, F., Pomerleau, F., Saska, M., Scherer, S., Siegwart, R., Williams, J.L., Carlone, L.. DOI 10.1109/TRO.2023.3323938

MaskBEV: Joint Object Detection and Footprint Completion for Bird's-eye View 3D Point Clouds arXiv, 2023. Guimont-Martin, W., Fortin, J.-M., Pomerleau, F., Giguère, P.. DOI 10.48550/arXiv.2307.01864

Saturation-Aware Angular Velocity Estimation: Extending the Robustness of SLAM to Aggressive Motions arXiv, 2023. Deschênes, S.-P., Baril, D., Boxan, M., Laconte, J., Giguère, P., Pomerleau, F.. DOI 10.48550/arXiv.2310.07844

Kilometer-Scale Autonomous Navigation in Subarctic Forests: Challenges and Lessons Learned Field Robotics, 2022. Dominic Baril, Simon-Pierre Deschênes, Olivier Gamache, Maxime Vaidis, Damien LaRocque, Johann Laconte, Vladimír Kubelka, Philippe Giguère, François Pomerleau. DOI 10.55417/fr.2022050

Instance Segmentation for Autonomous Log Grasping in Forestry Operations arXiv, 2022. Fortin, J.-M., Gamache, O., Grondin, V., Pomerleau, F., Giguère, P.. DOI 10.48550/arXiv.2203.01902

On the Importance of Quantifying Visibility for Autonomous Vehicles under Extreme Precipitation arXiv, 2022. Courcelle, C., Baril, D., Pomerleau, F., Laconte, J.. DOI 10.48550/arXiv.2209.03226

TREE DETECTION AND DIAMETER ESTIMATION BASED ON DEEP LEARNING arXiv, 2022. Grondin, V., Fortin, J.-M., Pomerleau, F., Giguère, P.. DOI 10.48550/arXiv.2210.17424

Gravity-constrained point cloud registration IEEE International Conference on Intelligent Robots and Systems, 2022. Kubelka, V., Vaidis, M., Pomerleau, F.. DOI 10.1109/IROS47612.2022.9981916

Training Deep Learning Algorithms on Synthetic Forest Images for Tree Detection arXiv, 2022. Grondin, V., Pomerleau, F., Giguère, P.. DOI 10.48550/arXiv.2210.04104

Robotics in Snow and Ice arXiv, 2022. Pomerleau, F.. DOI 10.48550/arXiv.2208.05095

Extrinsic calibration for highly accurate trajectories reconstruction arXiv, 2022. Vaidis, M., Dubois, W., Guénette, A., Laconte, J., Kubelka, V., Pomerleau, F.. DOI 10.48550/arXiv.2210.01048

Present and Future of SLAM in Extreme Underground Environments arXiv, 2022. Ebadi, K., Bernreiter, L., Biggie, H., Catt, G., Chang, Y., Chatterjee, A., Denniston, C.E., Deschênes, S.-P., Harlow, K., Khattak, S., Nogueira, L., Palieri, M., Petráček, P., Petrlík, M., Reinke, A., Krátký, V., Zhao, S., Agha-Mohammadi, A.-A., Alexis, K., Heckman, C., Khosoussi, K., Kottege, N., Morrell, B., Hutter, M., Pauling, F., Pomerleau, F., Saska, M., Scherer, S., Siegwart, R., Williams, J.L., Carlone, L.. DOI 10.48550/arXiv.2208.01787

A Novel Occupancy Mapping Framework for Risk-Aware Path Planning in Unstructured Environments Sensors, 2021. Johann Laconte, Abderrahim Kasmi, François Pomerleau, Roland Chapuis, Laurent Malaterre, Christophe Debain, Romuald Aufrère. DOI 10.3390/s21227562

Mapping in unstructured natural environment: a sensor fusion framework for wearable sensor suites SN Applied Sciences, 2021. Georges Chahine, Maxime Vaidis, François Pomerleau, Cédric Pradalier. DOI 10.1007/s42452-021-04555-y , DOI 10.1007/s42452-021-04555-y

Dynamic lambda-field: A counterpart of the bayesian occupancy grid for risk assessment in dynamic environments arXiv, 2021. Laconte, J., Randriamiarintsoa, E., Kasmi, A., Pomerleau, F., Chapuis, R., Debain, C., Aufrère, R.. DOI 10.48550/arxiv.2103.04795

Lidar Scan Registration Robust to Extreme Motions arXiv, 2021. Deschenes, S.-P., Baril, D., Kubelka, V., Giguere, P., Pomerleau, F.. DOI 10.48550/arxiv.2105.01215

Large-Scale 3D Mapping of Subarctic Forests Springer Proceedings in Advanced Robotics, 2021. Babin, P., Dandurand, P., Kubelka, V., Giguère, P., Pomerleau, F.. DOI 10.1007/978-981-15-9460-1_19

Accurate outdoor ground truth based on total stations Proceedings - 2021 18th Conference on Robots and Vision, CRV 2021, 2021. Vaidis, M., Giguère, P., Pomerleau, F., Kubelka, V.. DOI 10.1109/CRV52889.2021.00012

Multi-session Lake-Shore Monitoring in Visually Challenging Conditions Springer Proceedings in Advanced Robotics, 2021. Pradalier, C., Aravecchia, S., Pomerleau, F.. DOI 10.1007/978-981-15-9460-1_1

Kilometer-scale autonomous navigation in subarctic forests: challenges and lessons learned arXiv, 2021. Baril, D., Deschênes, S.-P., Gamache, O., Vaidis, M., LaRocque, D., Laconte, J., Kubelka, V., Giguère, P., Pomerleau, F.. DOI 10.48550/arXiv.2111.13981

A sensor fusion framework for wearable sensor suites SN Applied Sciences, 2021. Georges Chahine, Maxime Vaidis, François Pomerleau, Cédric Pradalier.

System for multi-robotic exploration of underground environments CTU-CRAS-NORLAB in the DARPA Subterranean Challenge arXiv, 2021. Rouček, T., Pecka, M., Čížek, P., Petříček, T., Bayer, J., Šalanský, V., Azayev, T., Heřt, D., Petrlík, M., Báča, T., Spurný, V., Krátký, V., Petráček, P., Baril, D., Vaidis, M., Kubelka, V., Pomerleau, F., Faigl, J., Zimmermann, K., Saska, M., Svoboda, T., Krajník, T.. DOI 10.48550/arxiv.2110.05911