Ph.D. Defense – Guilllaume Trehard

Guillaume Trehard is pleased to invite you to his Ph.D. defense titled “Evidence theory applications for localization and mapping in an urban context”, on Friday  2016, 05th at 2h30 pm at Mines Paristech (60 bd St Michel, Paris VI, RER B – Luxembourg), amphitheater L 109.

The jury will be composed of :

  • M. Christoph STILLER, Karlsruhe Institut of Technology (KIT), Examiner
  • Mme Véronique CHERFAOUI, Université de Technologie de Compiègne (UTC), Examiner
  • M. Raja CHATILA, CNRS, Examiner
  • M. Christian LAUGIER, INRIA, Examiner
  • M. Benazouz BRADAI, Valeo Driving Assistance Research, Examiner
  • M. Fawzi NASHASHIBI, INRIA, Examiner
  • Mme Evangéline POLLARD, INRIA, Examiner


Since its emergence in the beginning of the nineties, the evidence theory have gained a growing interest among the data fusion community. Its applications started to spread in the whole robotics field where its advantages complement the traditional Bayesian frameworks. In the area of environment mapping in particular, the quality of the description provided by evidences has already been appreciated and put forward in the literature. By pushing this application up to the simultaneous localization and mapping (SLAM) techniques, this document proposes a new version of the maximum likelihood SLAM in the evidential context before it proposes an original scheme for its integration in a global localization and mapping solution. A practical evaluation of these algorithms is performed in the context of autonomous driving and in urban environments using laser range data integrated on equipped vehicles. In addition, a solution to fuse this local mapping with a global semantic map is proposed as a way to overpass the classical limits of these techniques in restricted budget constraints and with an aim to address the public market. The solutions developed in this thesis are validated thanks to real data of three different experimental platforms from Inria, Valeo and the KITTI database. – See more at:

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