Publications

Articles dans des revues internationales avec comité de lecture

• Ben Ayed, S., Dachraoui, J., Laghmara, H., Boutteau, R., "Overview on evidential fusion approaches in the context of collaborative perception for occupancy modeling", Applied Intelligence, 55, 822, 2025, (JCR IF 3.5, Quartile SJR Q2).
• Caillot, A., Ouerghi, S., Dupuis, Y., Vasseur, P., Boutteau, R., "Multi-Agent Cooperative Camera-Based Semantic Grid Generation", Journal of Intelligent & Robotic Systems (JINT), 110, 64, 2024, (JCR IF 2.8, Quartile SJR Q1).
• Evain, A., Mauri, A., Garnier, F., Kounouho, M., Khemmar, R., Haddad, M., Boutteau, R., Breteche, S., Ahmedali, S., "Improving the Efficiency of 3D Monocular Object Detection and Tracking for Road and Railway Smart Mobility", Sensors, 23(6), 3197, 2023, (JCR IF 3.5, Quartile SJR Q1).
• Khemmar, R., Mauri, A., Dulompont, C., Gajula, j., Vauchey, V., Haddad, M., Boutteau, R., "Road and Railway Smart Mobility: A High-definition Ground Truth Hybrid Dataset", Sensors, 22(10), 3922, 2022, (JCR IF 3.5, Quartile SJR Q1).
• Trabelsi, R., Khemmar, R., Decoux, B., Ertaud, J.Y., Boutteau, R., "STAF: Spatio-Temporal Attention Framework for Understanding Road Agents Behaviors", IEEE Access, vol. 10, pp. 55794-55804, 2022, (JCR IF 3.6, Quartile SJR Q1).
• Trabelsi, R., Khemmar, R., Decoux, B., Ertaud, J.Y., Boutteau, R., "Recent Advances in Vision-Based On-Road Behaviors Understanding: A Critical Survey", Sensors, Special Issue Perception Sensors for Road Applications, 2022, (JCR IF 3.5, Quartile SJR Q1).
• Caillot, A., Ouerghi, S., Vasseur, P., Boutteau, R., Dupuis, Y., "Survey on Cooperative Perception in an Automotive Context", IEEE Transactions on Intelligent Transportation Systems (T-ITS), vol. 23, Issue 9, 2022, (JCR IF 8.4, Quartile SJR Q1).
• Mauri, A., Khemmar, R., Decoux, B., Haddad, M., Boutteau, R., "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, 2022, (JCR IF 3, Quartile SJR Q2).
• Nehme, H., Aubry, C, Solatges, T., Savatier, X., Rossi, R., Boutteau, R., "LiDAR-based Structure Tracking for Agricultural Robots: Application to Autonomous Navigation in Vineyards", Journal of Intelligent & Robotic Systems (JINT), 103, 61, 2021, (JCR IF 2.8, Quartile SJR Q1).
• Mauri, A., Khemmar, R., Decoux, B., Haddad, M., Boutteau, R., "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, 2021, (JCR IF 3.3, Quartile SJR Q1).
• Delamare, M., Duval, F., Boutteau, R., "A New Dataset of People Flow in an Industrial Site with UWB and Motion Capture Systems", Sensors, 20(16), 4511, 2020, (JCR IF 3.5, Quartile SJR Q1).
• Mauri, A., Khemmar, R., Decoux, B., Ragot, N., Rossi, R., Trabelsi, R., Boutteau, R., Ertaud, J.Y., Savatier, X., "Deep Learning for Real Time 3D Multi-Object Detection", Sensors, 20(2), 2020, (JCR IF 3.5, Quartile SJR Q1).
• Boutteau, R., Rossi, R., Qin, L., Merriaux, P. , Savatier, X., "A vision-based system for robot localization in large industrial environments", Journal of Intelligent & Robotic Systems (JINT), vol. 99, Issue 2, pp 359-370, 2020, (JCR IF 2.8, Quartile SJR Q1).
• Merriaux, P., Rossi, R., Boutteau, R., Vauchey, V., Qin, L., Chanuc, P., Rigaud, F., Roger, F., Decoux, B., Savatier, "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, 2019, (JCR IF 7.1, Quartile SJR Q1).
• Mhiri, R., Ouerghi, S., Boutteau, R., Vasseur, P., Mousset, S., Bensrhair, A, "Asynchronous Structure from Motion at Scale", Journal of Intelligent & Robotic Systems (JINT), vol. 96, Issue 2, November 2019, pp 159-177, 2019, (JCR IF 2.8, Quartile SJR Q1).
• Lecrosnier, L., Boutteau, R., Vasseur, P., Fraundorfer, F., Savatier, X, "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, 2019, (JCR IF 5.3, Quartile SJR Q1).
• Delamare, M., Boutteau, R., Savatier, X., Iriart, N., "Static and dynamic evaluation of an UWB localization system for industrial applications", Sci, 1(3), 62, 2019, (JCR IF 0, Quartile SJR ).
• Merriaux, P., Dupuis, Y., Boutteau, R., Vasseur, P., Savatier, X., "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, 2018, (JCR IF 5.2, Quartile SJR Q1).
• Boutteau, R., Sturm, P., Vasseur, P., Demonceaux, C., "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, 2018, (JCR IF 1.5, Quartile SJR Q2).
• Ouerghi, S., Boutteau, R., Tlili, F., Savatier, X., "Visual Odometry and Place Recognition Fusion for Vehicle Position Tracking in Urban Environments", Sensors, vol. 18, Issue 4, 939, 2018, (JCR IF 3.5, Quartile SJR Q1).
• Ghorbel, E., Boutteau, R., Boonaert, J., Savatier, X., Lecoeuche, S., "Kinematic Spline Curves: A temporal invariant descriptor for fast action recognition", Image and Vision Computing (IVC), vol. 77, September 2018, 2018, (JCR IF 4.2, Quartile SJR Q1).
• Ghorbel, E., Boonaert, J., Boutteau, R., Lecoeuche, S., Savatier, X., "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, 2018, (JCR IF 3.6, Quartile SJR Q1).
• Saurer, O., Vasseur, P., Boutteau, R., Demonceaux, C., Pollefeys, M., Fraundorfer, F., "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, 2017, (JCR IF 18.6, Quartile SJR Q1).
• Bonardi, F. , Ainouz, S., Boutteau, R., Dupuis, Y., Savatier, X., Vasseur, P., "PHROG: A multimodal Feature for Place Recognition", Sensors, 17, 1167, 2017, (JCR IF 3.5, Quartile SJR Q1).
• Merriaux, P., Dupuis, Y., Boutteau, R., Vasseur, P., Savatier, X., "A Study of Vicon System Positioning Performance", Sensors, 17, 1591, 2017, (JCR IF 3.5, Quartile SJR Q1).
• Boutteau, R., Savatier, X., Ertaud, J.-Y., Mazari, B., "An Omnidirectional Stereoscopic System for Mobile Robot Navigation", Sensors & Transducers Journal, Special Issue on Robotic and Sensors Environments, vol. 5, pp 3-17, 2009, (JCR IF 0, Quartile SJR ).

Actes publiés dans des conférences internationales

• Zhou, Z., Wu, Z., Bolli, F., Boutteau, R., Yang, F., Timofte, R., Ginhac, D., Delbruck, T., "Steering Prediction via a Multi-Sensor System for Autonomous Racing", IEEE International Conference on Robotics and Automation (ICRA), Atlanta, USA, 2025.
• Zhou, Z., Wu, Z., Danda, D.P., Boutteau, R., Yang, F., Van Gool, L., Timofte, R., Ginhac, D., "Event-Free Moving Object Segmentation from Moving Ego Vehicle", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Abu Dhabi, United Arab Emirates, 2024.
• Ouarab, S., Boutteau, R., Roméo, K., Lecomte, C., Laignel, A., Ragot, N., Duval, F., "Industrial Object Detection: Leveraging Synthetic Data for Training Deep Learning Models", International Conference on Industrial Engineering and Applications (ICIEA), Nice, France, 2024.
• El Moudni, A., Morbidi, F., Kramm, S., Boutteau, R., "An Event-based Stereo 3D Mapping and Tracking Pipeline for Autonomous Vehicles", IEEE International Conference on Intelligent Transportation Systems (ITSC), Bilbao, Spain, 2023.
• Zhou, Z., Wu, Z., Boutteau, R., Yang, F., Demonceaux, C., Ginhac, D., "RGB-Event Fusion for Moving Object Detection in Autonomous Driving", IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom, 2023.
• Caillot, A., Ouerghi, S., Vasseur, P., Dupuis, Y., Boutteau, R., "Multi-Agent Cooperative Camera-Based Evidential Occupancy Grid Generation", IEEE International Conference on Intelligent Transportation Systems (ITSC), Macau, China, 2022.
• Ennajar, A., Khouja, N., Boutteau, R., Tlili, F., "Deep Multi-modal object detection for Autonomous Driving", IEEE International Multi-Conference on Systems, Signals & Devices (SSD), Monastir, Tunisia, 2021.
• Mauri, A., Khemmar, R., Decoux, B., Ben Moumen, T., Haddad, M., Boutteau, R., "A Comparative Study of Deep Learning-based Depth Estimation Approaches: Application to Smart Mobility", International Conference on Smart Computing and Communications (ICSCC), Kochi, India, Best paper Award, 2021.
• Nehme, H., Aubry, C, Rossi, R., Boutteau, R., "An anomaly detection approach to monitor the structure-based navigation in agricultural robotics", IEEE International Conference on Automation Science and Engineering (CASE), Lyon, France, 2021.
• Trabelsi, R., Khemmar, R., Boutteau, R., Decoux, B., Ertaud, J.Y., "Toward Comprehensive Road Agents Behavior Understanding", Colloque Francophone des Systèmes de Transports Intelligents (CSTI), Tunis, Tunisie, 2020.
• Ouerghi, S., Ragot, N., Boutteau, R., Savatier, X., "Comparative Study of a commercial tracking camera and ORB-SLAM2 for person localization", International Conference on Computer Vision Theory and Applications (VISAPP), Valletta, Malta, 2020.
• Mauri, A., Khemmar, R., Boutteau, R., Decoux, B., Ertaud, J.Y., Haddad, M., "A new Evaluation Approach for Deep Learning-based Monocular Depth Estimation Methods", IEEE International Conference on Intelligent Transportation Systems (ITSC), Rhodes, Greece, 2020.
• Merriaux, P., Rossi, R., Boutteau, R., Vauchey, V., Qin, L., Chanuc, P., Rigaud, F., Roger, F., Decoux, B., Savatier, X., "VIKINGS: An Autonomous Inspection Robot for the ARGOS Challenge", IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019.
• Lecrosnier, L., Boutteau, R., Vasseur, P., Fraundorfer, F., Savatier, X., "Camera pose estimation based on PnL with a known vertical direction", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019.
• Lecrosnier, L., Boutteau, R., Vasseur, P., Savatier, X., Fraundorfer, F., "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, 2019.
• Delamare, M., Boutteau, R., Savatier, X., Iriart, N., "Evaluation of an UWB localization system in Static/Dynamic", International Conference on Indoor Positioning and Indoor Navigation (IPIN), Pisa, Italy, 2019.
• Ouerghi, S., Boutteau, R., Savatier, X., Tlili, F., "CUDA Accelerated Visual Egomotion Estimation for Robotic Navigation", International Conference on Computer Vision Theory and Applications (VISAPP), Porto, Portugal, 2017.
• Ouerghi, S., Boutteau, R., Tlili, F., Savatier, X., "CUDA-based SeqSLAM for Real-Time Place Recognition", International Conference on Computer Graphics, Visualization and Computer Vision (WSCG), Plzen, Czech Republic, 2017.
• Bonardi, F. , Ainouz, S., Boutteau, R., Dupuis, Y., Savatier, X., Vasseur, P., "A novel Global Image Description approach for Long Term Vehicle Localization", European Signal Processing Conference (EUSIPCO), Kos Island, Greece, 2017.
• Ouerghi, S., Boutteau, R., Merriaux, P., Ragot, N., Savatier, X., Vasseur, P., "Absolute Localization Using Visual Data for Autonomous Vehicles", International Conference on Computer Vision Theory and Applications (VISAPP), Rome, Italy, 2016.
• Ghorbel, E., Boutteau, R., Boonaert, J., Savatier, X., Lecoeuche, S., "A Fast and Accurate Motion Descriptor for Human Action Recognition Applications", International Conference on Pattern Recognition (ICPR), Cancun, Mexico, 2016.
• Mhiri, R., Vasseur, P., Mousset, S., Boutteau, R., Bensrhair, A., "Accurate Scale estimation based on unsynchronized camera network", , Québec City, Canada, 2015.
• Ghorbel, E., Boutteau, R., Boonaert, J., Savatier, X., Lecoeuche, S., "3D real-time human action recognition using a spline interpolation approach", International Conference on Image Processing Theory, Tools and Applications (IPTA), Orléans, France, 2015.
• Le Ménec, S., Lecointre, V., Boutteau, R., Savatier, X., Jaulin, L., "Robotic Demonstration of Collision Avoidance Based on Differential Games", International Symposium on Dynamic Games and Applications (ISDG), Amsterdam, The Netherlands, 2014.
• Mhiri, R., Vasseur, P., Mousset, S., Boutteau, R., Bensrhair, A., "Visual odometry with unsynchronized multi-cameras setup for intelligent vehicle application", IEEE Intelligent Vehicles Symposium (IV), Dearborn, Michigan, USA, 2014.
• Dupuis, Y., Merriaux, P., Subirats, P., Boutteau, R., Savatier, X., Vasseur, P., "GPS-based Preliminary Map Estimation for Autonomous Vehicle Mission Preparation", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, Illinois, USA, 2014.
• Merriaux, P., Boutteau, R., Vasseur, P., Savatier, X., "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, 2014.
• Belbachir, A., Boutteau, R., Merriaux, P., Blosseville, J.M., Savatier, X., "From Autonomous Robotics Toward Autonomous Cars", IEEE Intelligent Vehicles Symposium (IV), Gold Coast, Australia, 2013.
• Boutteau, R., Savatier, X., Bonardi, F., Ertaud, J.Y., "Road-line detection and 3D reconstruction using fisheye cameras", IEEE International Conference on Intelligent Transportation Systems (ITSC), The Hague, The Netherlands, 2013.
• Boutteau, R., Savatier, X., Ertaud, J.Y., "A dynamic programming algorithm applied to omnidirectional vision for dense 3D reconstruction", IAPR Asian Conference on Pattern Recognition (ACPR), Naha, Okinawa, Japan, 2013.
• Savatier, X., Boutteau, R., Merriaux, P., Le Ménec, S., "Demonstration of the Salvo Enhanced No Escape Zone Concept using ground mobile robots", International Symposium on Dynamic Games and Applications (ISDG), Byšice, Czech Republic, 2012.
• Iraqui, A., Dupuis, Y., Boutteau, R., Ertaud, J. Y., Savatier, X., "Fusion of Omnidirectional and PTZ cameras for face detection & tracking", IEEE International Conference on Emerging Security Technologies, Canterbury, United Kingdom, 2010.
• Boutteau, R., Savatier, X., Ertaud, J.-Y., Mazari, B., "An omnidirectional stereoscopic system for mobile robot navigation", IEEE International Workshop on RObotic and Sensors Environments (ROSE), Ottawa, Canada, 2008.

Chapitres d'ouvrage

• Ouerghi, S., Boutteau, R., Savatier, X., Tlili, F., "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, 2019.
• Boutteau, R., Savatier, X., Ertaud, J. Y., Mazari, B., "Chapter 1 : A 3D Omnidirectional Sensor For Mobile Robot Applications", In-Tech Book. ISBN : 978-953-307-076-6, 2010.

Actes publiés dans des conférences nationales

• Zhou, Z., Wu, Z., Boutteau, R., Yang, F., Demonceaux, C., Ginhac, D., "Détection d'objets en mouvement dans un milieu urbain par fusion de données RVB et événementielles", Colloque GRETSI (GRETSI), Grenoble, France, 2023.
• Evain, A., Mauri, A., Garnier, F., Kounouho, M., Khemmar, R., Haddad, M., Boutteau, R., Breteche, S., Ahmedali, S., "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, 2023.
• El Moudni, A., Kramm, S., Morbidi, F., Boutteau, R., "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, 2023.
• Mauri, A., Khemmar, R., Decoux, B., Ertaud, J.Y., Haddad, M., Boutteau, R., "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, 2021.
• Merriaux, P., Boutteau, R., Rossi, R., Coru, G., Vauchey, V., Savatier, X., "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, 2018.
• Bonardi, F. , Ainouz, S., Boutteau, R., Dupuis, Y., Savatier, X., Vasseur, P., "Localisation visuelle multimodale à long terme", Colloque GRETSI (GRETSI), Juan-Les-Pins, France, 2017.
• Ghorbel, E., Boutteau, R., Boonaert J., Savatier, X., Lecoeuche, S., "Vers une reconnaissance en ligne d'actions à partir de caméras RGB-D", Reconnaissance de Formes et Intelligence Artificielle (RFIA), Clermont Ferrand, France, 2016.
• Merriaux, P., Dupuis, Y., Boutteau, R., Vasseur, P., Savatier, X., "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, 2016.
• Datondji, R., Ragot, N., Nasri, Y., Khemmar, R., Boutteau, R., "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, 2015.
• Mhiri, R., Vasseur, P., Mousset, S., Boutteau, R., Bensrhair, A., "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, 2015.
• Merriaux, P., Dupuis, Y., Boutteau, R., Vasseur, P., Savatier, X., "Localisation robuste en milieu industriel complexe", Colloque GRETSI (GRETSI), Lyon, France, 2015.
• Merriaux, P., Boutteau, R., Vasseur, P., Savatier, X., "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, 2014.
• Mhiri, R., Vasseur, P., Mousset, S., Boutteau, R., Bensrhair, A., "Estimation à l'échelle du mouvement d'un réseau multi-caméras non synchronisées", Reconnaissance de Formes et Intelligence Artificielle (RFIA), Rouen, France, 2014.

Mémoires

• Boutteau, R., "Contribution à la localisation pour le véhicule autonome", Habilitation à Diriger des Recherches (French Habilitation to supervise research), Université de Rouen Normandie, 2018.
• Boutteau, R., "Reconstruction tridimensionnelle de l'environnement d'un robot mobile, à partir d'informations de vision omnidirectionnelle", Thèse de doctorat (PhD Thesis), Université de Rouen Normandie, 2010.
• Boutteau, R., "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, 2006.
• Boutteau, R., "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), 2006.