Claire DUNE

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Assistant-Professor,  61th CNU section

mail : claire.dune @ univ-tln.fr

 

 

Short Bio

I graduated from the Ecole Nationale Supérieure de Physique de Strasbourg (with major in automatic and computer vision), in 2005. I obtained my Master Degree in photonics, image and cybernetics the same year. I did my final internship at the Intelligent System Laboratory of SIEMENS, in Munich, on the development of an active vision system for object recognition in service robotics. In 2009, I defended my thesis on an object capture tool for assistive robotics, under the supervision of Eric Marchand, Professor at the University of Rennes 1 and in collaboration with the CEA LIST teams. I was then a post-doctoral fellow in the CNRS Joint Robotic Laboratory team at AIST, Tsukuba Japan (Japan Society for Promotion of Science). My research focused on the visual servoing of a humanoid robot’s walk.

Research

Since 2010, I have been a lecturer at the University of Toulon. Between 2010 and 2014, I worked on the transverse project INRIA Personnaly Assisted Living (PAL) in association with the HANDIBIO biomechanical laboratory and the HEPHAISTOS team at INRIA in Sophia Antipolis. The objective was to develop a walking analysis tool integrated into a walker.

In January 2015, I joined the COSMER laboratory where my research focuses on sensor-based control for underwater robotics.

My research theme is sensor referenced control for robotics.

The development of robotic autonomy in a real environment requires systems to be equipped with means of perception and analysis to enable them to dynamically correct errors in their internal modelling and react adequately and dynamically to changes in their external environment.

Thesis supervision

  • Louis Jouclas, since 2023 (co-advised with Maxime Ferrera, under the supervision of Vincent Creuze and Vincent Hugel)
  • Martin Filliung, since 2022 (under the supervision of Nicolas Boizot)
  • Bilal Ghader, since 2020  (co-advised with Jérémy Nicola, under the supervision of Eric Watelain and Vincent Hugel)
  • Clementin Boittiaux, 2020-2023 (co-advised with Aurélien Arnaubec and Ricard Marxer, under the direction of Vincent Hugel)
  • Juliette Drupt, 2020-2023 (co-advised with Andrew Comport, under the direction of Vincent Hugel)
  • Matheus Laranjeira-Moreira, 2016-2019 (under the direction of Vincent Hugel)

Collective responsibilities

  • Member of the Department Committee, Métiers du Multimédia et de l’Internet od the IUT of Toulon (2013-2018)
  • Member of the Committee for Education and University Life of University of Toulon(2015-2019)
  • Member of the Academic Council of the University of Toulon (2015-2019)
  • Member of the Restricted Academic Council of the University of Toulon(2015-2019)

Research Papers


40 documents

Journal articles10 document

  • Juliette Drupt, Andrew Comport, Claire Dune, Vincent Hugel. MAM3SLAM: Towards underwater robust multi-agent visual SLAM. Ocean Engineering, 2024, 302, pp.117643. ⟨10.1016/j.oceaneng.2024.117643⟩. ⟨hal-04392461v4⟩
  • Clémentin Boittiaux, Claire Dune, Maxime Ferrera, Aurélien Arnaubec, Ricard Marxer, et al.. Eiffel Tower: A Deep-Sea Underwater Dataset for Long-Term Visual Localization. The International Journal of Robotics Research, 2023, ⟨10.1177/02783649231177322⟩. ⟨hal-04089339⟩
  • Christophe Viel, Juliette Drupt, Claire Dune, Vincent Hugel. ROV localization based on umbilical angle measurement. Ocean Engineering, 2023, 269, pp.113570. ⟨10.1016/j.oceaneng.2022.113570⟩. ⟨hal-04116694⟩
  • Nicolas Gartner, Mathieu Richier, Claire Dune, Vincent Hugel. Hydrodynamic Parameters Estimation Using Varying Forces and Numerical Integration Fitting Method. IEEE Robotics and Automation Letters, 2022, 7 (4), pp.11713-11719. ⟨10.1109/LRA.2022.3205126⟩. ⟨hal-03875312⟩
  • Jihong Zhu, Andrea Cherubini, Claire Dune, David Navarro-Alarcon, Farshid Alambeigi, et al.. Challenges and Outlook in Robotic Manipulation of Deformable Objects. IEEE Robotics and Automation Magazine, 2022, 29 (3), pp.67-77. ⟨10.1109/MRA.2022.3147415⟩. ⟨hal-03483491⟩
  • Clémentin Boittiaux, Ricard Marxer, Claire Dune, Aurélien Arnaubec, Vincent Hugel. Homography-Based Loss Function for Camera Pose Regression. IEEE Robotics and Automation Letters, 2022, 7 (3), pp.6242-6249. ⟨10.1109/LRA.2022.3168329⟩. ⟨hal-03654445⟩
  • Jihong Zhu, Claire Dune, Miguel Aranda, Youcef Mezouar, Juan Antonio Corrales, et al.. Editorial: Robotic Handling of Deformable Objects. IEEE Robotics and Automation Letters, 2022, 7 (3), pp.8257-8259. ⟨10.1109/LRA.2022.3185539⟩. ⟨hal-03846762⟩
  • Matheus Laranjeira, Aurélien Arnaubec, Lorenzo Brignone, Claire Dune, Jan Opderbecke. 3D Perception and Augmented Reality Developments in Underwater Robotics for Ocean Sciences. Current Robotics Reports, 2020, 1 (3), pp.123-130. ⟨10.1007/s43154-020-00014-5⟩. ⟨hal-02980249⟩
  • Matheus Laranjeira, Claire Dune, Vincent Hugel. Catenary-based visual servoing for tether shape control between underwater vehicles. Ocean Engineering, 2020, 200, pp.107018. ⟨10.1016/j.oceaneng.2020.107018⟩. ⟨hal-02477150⟩
  • Mauricio Garcia, Olivier Stasse, Jean-Bernard Hayet, Claire Dune, Claudia Esteves, et al.. Vision-guided motion primitives for humanoid reactive walking: decoupled vs. coupled approaches. The International Journal of Robotics Research, 2014, 34 (4-5), pp.402-419. ⟨10.1177/0278364914550891⟩. ⟨hal-01113499⟩

Conference papers26 document

  • Claire Dune. Les câbles en robotique sous-marine. Faut-il couper le cordon ?. Les Rendez vous mer et drones, pole mer mediterrannée, Dec 2024, Les Arcs sur Argens, France. ⟨hal-04833504⟩
  • Charly Peraud, Martin Filliung, Cédric Anthierens, Claire Dune, Nicolas Boizot, et al.. IMU-based Monitoring of Buoy-Ballast System through Cable Dynamics Simulation. 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024), Oct 2024, Abu Dhabi, United Arab Emirates. ⟨hal-04756297⟩
  • Martin Filliung, Juliette Drupt, Charly Peraud, Claire Dune, Nicolas Boizot, et al.. An Augmented Catenary Model for Underwater Tethered Robots. IEEE International Conference on Robotics and Automation (ICRA 2024), May 2024, Yokohama, Japan. pp.6051 - 6057, ⟨10.1109/ICRA57147.2024.10611132⟩. ⟨hal-04459364⟩
  • Bilal Ghader, Claire Dune, Eric Watelain, Vincent Hugel. Skeleton-based Visual Recognition of Diver's Gesture. OCEANS 2023, University of Limerick, Jun 2023, Limerick, France. ⟨hal-04116540⟩
  • Juliette Drupt, Claire Dune, Andrew I. Comport, Vincent Hugel. Qualitative evaluation of state-of-the-art DSO and ORB-SLAM-based monocular visual SLAM algorithms for underwater applications. OCEANS 2023, University of Limerick, Jun 2023, Limerick, France. ⟨hal-04116537⟩
  • Juliette Drupt, Claire Dune, Andrew I Comport, Vincent Hugel. Estimation de forme de câble pesant pour la localisation de robots sous-marins encordés : comparaison d'une approche visuelle à une nouvelle approche inertielle. ORASIS, Thanh Phuong Nguyen; Laboratoire LIS, May 2023, Carqueiranne, France. ⟨hal-04108624⟩
  • Clémentin Boittiaux, Claire Dune, Aurélien Arnaubec, Ricard Marxer, Maxime Ferrera, et al.. Long-term visual localization in deep-sea underwater environment. ORASIS, Thanh Phuong Nguyen, May 2023, Carqueiranne, France. ⟨hal-04108737⟩
  • Bilal Ghader, Claire Dune, Eric Watelain, Vincent Hugel. Divers gesture recognition from upper limb tracking. 19éme colloque ORASIS (journées francophones des jeunes chercheurs en vision par ordinateur ), Thanh Phuong Nguyen; Yassine Zniyed; Nadège Thirion-Moreau; Sandra Senisar; Eric Moreau; Thanh Tuan Nguyen, May 2023, Carqueiranne, France. ⟨hal-04108621⟩
  • Juliette Drupt, Claire Dune, Andrew I. Comport, Vincent Hugel. Validity of the catenary model for moving submarine cables with negative buoyancy. 3rd workshop on RObotic MAnipulation of Deformable Objects: challenges in perception, planning and control for Soft Interaction (ROMADO-SI),, Oct 2022, Kyoto, Japan. ⟨hal-03841238⟩
  • Juliette Drupt, Claire Dune, Andrew I. Comport, Sabine Sellier, Vincent Hugel. Inertial-Measurement-Based Catenary Shape Estimation of Underwater Cables for Tethered Robots. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2022, Kyoto, Japan. ⟨hal-03841236⟩
  • Bilal Ghader, Claire Dune, Eric Watelain, Vincent Hugel. Deep Learning for Underwater Gesture Identification From Airbone Training. ACAPS, Oct 2021, Montpellier, France. ⟨hal-03274321⟩
  • Matheus Laranjeira, Claire Dune, Vincent Hugel. Embedded Visual Detection and Shape Identification of Underwater Umbilical for Vehicle Positioning. OCEANS 2019 - Marseille, Jun 2019, Marseille, France. pp.1-9, ⟨10.1109/OCEANSE.2019.8867548⟩. ⟨hal-02350067⟩
  • Matheus Laranjeira, Claire Dune, Vincent Hugel. Local Vision-Based Tether Control for a Line of Underwater Robots. IEEE IROS 2018, Oct 2018, Madrid, Spain. ⟨hal-04123118⟩
  • Matheus Laranjeira, Claire Dune, Vincent Hugel. Catenary-based visual servoing for tethered robots. IEEE International Conference on Robotics and Automation (ICRA), May 2017, Singapour, France. ⟨hal-01657118⟩
  • Nicolas Cazy, Claire Dune, Pierre-Brice Wieber, Paolo Robuffo Giordano, François Chaumette. Pose Error Correction For Visual Features Prediction. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'14, Sep 2014, Chicago, United States. pp.791-796, ⟨10.1109/IROS.2014.6942649⟩. ⟨hal-01010772⟩
  • Ting Wang, Claire Dune, Jean-Pierre Merlet, Philippe Gorce, Guillaume Sacco, et al.. A new application of smart walker for quantitative analysis of human walking. The Second Workshop on Assistive Computer Vision and Robotics (ACVR'14), Sep 2014, zuric, Switzerland. ⟨hal-01092987⟩
  • Cyril Joly, Claire Dune, Philippe Gorce, Patrick Rives. Feet and legs tracking using a smart rollator equipped with a Kinect. Workshop on "Assistance and Service Robotics in a Human Environment" in conjonction with IEEE/RSJ Int. Conf. on Int. Rob. and Sys. (IROS), Nov 2013, Tokyo, Japan. ⟨hal-00921273⟩
  • Claire Dune, P Gorce, Jean-Pierre Merlet. Can smart rollators be used for gait monitoring and fall prevention?. IROS 2012 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2012, Vilamoura, Portugal. pp.1-6. ⟨hal-01723818⟩
  • Claire Dune, Andrei Herdt, Eric Marchand, Olivier Stasse, Pierre-Brice Wieber, et al.. Vision based control for Humanoïd robots. IROS Workshop on Visual Control of Mobile Robots (ViCoMoR), Sep 2011, San Francisco, California,, United States. pp.19-26. ⟨hal-04427750⟩
  • Claire Dune, Andrei Herdt, Olivier Stasse, Pierre-Brice Wieber, Kazuhito Yokoi, et al.. Cancelling the sway motion of dynamic walking in visual servoing. IROS 2010 - IEEE-RSJ International Conference on Intelligent Robots & Systems, Oct 2010, Taipei, Taiwan. pp.3175-3180, ⟨10.1109/IROS.2010.5649126⟩. ⟨inria-00567664⟩
  • C. Nadeau, C. Dune. Vers une saisie en un clic : caractérisation d'un objet 3D à partir d'une reconstruction voxellique. Congrès de jeunes chercheurs en vision par ordinateur, ORASIS'09, 2009, Tregastel, France, France. ⟨inria-00436758⟩
  • Caroline Nadeau, C. Dune. Vers une saisie en un seul clic : caractérisation de la forme 3D d'un objet à partir d'informations visuelles. ORASIS'09 - Congrès des jeunes chercheurs en vision par ordinateur, 2009, Trégastel, France, France. ⟨inria-00404646⟩
  • C. Dune, E. Marchand, Christophe Collewet, Cédric Leroux. Active rough shape estimation of unknown objects. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'08, 2008, Nice, France, France. pp.3622-3627. ⟨inria-00351864⟩
  • Claire Dune, A. Remazeilles, Eric Marchand, Christophe Leroux. Vision-based grasping of unknown objects to improve disabled people autonomy.. Robotics: Science and Systems Manipulation Workshop: Intelligence in Human Environments., 2008, Zurich, Switzerland, France. ⟨inria-00351863⟩
  • Claire Dune, Eric Marchand, Cédric Leroux. One Click Focus with Eye-in-hand/Eye-to-hand Cooperation. IEEE Int. Conf. on Robotics and Automation, Apr 2007, Roma, Italia, Italy. pp.2471-2476. ⟨inria-00160956⟩
  • C. Dune, Cédric Leroux, E. Marchand. Intuitive human interactive with an arm robot for severely handicapped people - A one click approach.. IEEE Int. Conf. on Rehabilitation Robotics, ICORR'2007, 2007, Noordwijk, Netherlands. pp.582-589. ⟨inria-00350648⟩

Other publications1 document

  • Jihong Zhu, Claire Dune, Andrea Cherubini, David Navarro-Alarcon. IEEE IROS Workshop on Managing deformation: A step towards higher robot autonomy. 2020. ⟨hal-02980281⟩

Preprints, Working Papers2 document

  • Juliette Drupt, Christophe Viel, Claire Dune, Vincent Hugel. ROV localization using ballasted umbilical equipped with IMUs. 2023. ⟨hal-04350174⟩
  • Christophe Viel, Juliette Drupt, Claire Dune, Vincent Hugel. ROV localization based on umbilical angle measurement. 2022. ⟨hal-03875151v2⟩

Theses1 document

  • Claire Dune. Localisation et caractérisation d'objets inconnus à partir d'informations visuelles : vers une saisie intuitive pour les personnes en situation de handicap. Robotique [cs.RO]. Université Rennes 1, 2009. Français. ⟨NNT : ⟩. ⟨tel-00844919⟩

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Teaching

IUT Department of Métiers du Multimédia et de l’Internet

  • Web programming (php, mysql, javascript),
  • Object Oriented programming (basic concepts),
  • Image processing,
  • Digitisation.

Doctoral School

  • Introduction to LaTeX for scientific writing 
  • Collaborative projects: Version tracking under GIT 
  • Creation of a research website (HTML/CSS databases, implementation of a CMS) 

Administrative responsibility

  • 2010-2011 Responsible for schedules in MMI department 
  • 2011-2014 Head of tutored projects in MMI department
  • 2014-2015 Director of Studies for the Licence Pro ‘production and autonomous audiovisual broadcasting’
  • 2016-2018 Pedagogical manager for the MMI work-linked training.
  • 2018-2019 Research and thematic reconversion leave.