Omar Tahri   

Biography:

Dr. Omar Tahri was born in Fez, Morocco, in 1976. He got his Masters in photonics, images and system control from the Louis Pasteur University, Strasbourg, France, in 2000 and received his Ph.D degree in computer science from the University of Rennes, France, in March 2004. His research interests include robotics and computer vision, especially visual servoing.

Contact: otahri at gmail dot com 


EDUCATIONAL BACKGROUND

October 2000 – March 2004: Ph.D. in computer science at INRIA-Rennes, France.  

September 1999 –July 2000:  DEA in Image, Photonics, System Control and Vision, equivalent to a Master’s, University of Louis Pasteur, Strasbourg.

 
RESEARCH EXPERIENCE
 

  1. December 2006- December 2007: Post-doc position, ‘Parallel robot control using an  omni-directional camera’, Lasmea, Blaise Pascal University.
  2. December 2005- December 2006: Post-doc position, ‘Low level image processing  with catadioptric cameras’, INRIA of Sophia Antipolis.
  3. October   2004 – September 2005:   Engineer position in assistive robotics for  disabled peoples,   Atomic Energy Commission, Fontenay aux roses, France. 
  4. October   2000 (38 months): PhD thesis, “Application of moment to visual servoing and pose estimation”, INRIA Rennes, France. 

LANGUAGES

  1. Arabic              Mother tongue
  2. French            Fluent  
  3. English            Proficient 
  4. Portuguese      Basic                         


PUBLICATIONS

Academic distinctions  

 Finalist Best Vision Paper in ICRA 2005

 Phd thesis 

  1. 'Application of moment to visual servoing and pose estimation' (in french) Download PDF

Book chapters:

  1. O. Tahri, Y. Mezouar, F. Chaumette, and H. Araujo. 'Visual Servoing and Pose Estimation with Cameras obeying the Unified Model'. In Visual Servoing via Advanced Numerical Methods, Springer,  2010 Download PDF

International Journal  

  1. R. Tatsambon Fomena, O. Tahri, F. Chaumette. Distance-based and Orientation-based  Visual Servoing from three points.  IEEE Trans. on Robotics, 27(2):256-267, April 2011  Download PDF
  2. O. Tahri, Y. Mezouar, F.  Chaumette and P.  Corke. Decoupled Image-Based Visual Servoing for Cameras Obeying the Unified Projection Model.  In IEEE Transactions on Robotics, Volume 26, Issue 4, pages 684 - 697, August  2010. Download PDF
  3. O. Tahri, Y. Mezouar ‘On  Visual Servoing based on Efficient Second Order Minimization’.    Robotics and Autonomous Systems, Volume 58, Issue 5, Pages 712-719, May   2010. 
  4. O. Tahri, Y. Mezouar , N. Andreff and P. Martinet, ‘Visual servoing of Gough-Stewart platform using omnidirectional camera’.  In   IEEE Transactions on Robotics.  February 2009.   Download PDF
  5. C. Leroux, I. Laffont, S. Schmutz, N. Biard, R. Gelin, J. F. Désert, G. Chalubert,  O. Tahri, J. M. Alexandre (2006),’Intelligent interface for robot object grasping’.  In  Journal of Association for the Advancement of Modeling  and Simulation Techniques in Enterprises. Volume  67, supp: Handicap - 2006. Download PDF 
  6. O. Tahri, F. Chaumette, ‘Point Based and Region-Based Image Moments for Visual Servoing of planar Object’, In IEEE Transactions on Robotics,  December 2005. Download PDF
International Conferences    
  1. R. Tatsambon Fomena, O. Tahri, F. Chaumette. Visual servoing from three points using a spherical projection model. In IEEE Int. Conf. on Robotics and Automation, ICRA'10, Anchorage, Alaska, Mai 2010
  2. O.  Tahri, Y. Mezouar, F.  Chaumette and P.  Corke.  Generic Decoupled Image-Based Visual Servoing for Cameras Obeying the Unified Projection Model. IEEE International Conference on Robotics and Automation, Kobe, May 12-17 2009, Japan  Download  PDF.
  3. Y. Mezouar, H. H. Abdelkader and  O. Tahri.   Two Applications of Ominidirectional Vision :  Visual-Servo of Serial and Parallel Robots.   Workshop on Omnidirectional Robot Vision , International Conference on Simulation, Modeling and Programming for  Autonomuous Robots. November 3-7, 2008, Venice, Italy. Download PDF
  4. O. Tahri and Y. Mezouar. On the Efficient Second Order Minimization and Image-Based Visual Servoing.  IEEE International Conference on Robotics and Automation,  Pasadena , California,  May 19-23, 2008. Dowload PDF
  5. O. Tahri, F. Chaumette and Y. Mezouar. ‘New Decoupled Visual Servoing Scheme based on Invariants from Projection onto a Sphere’.  IEEE International Conference on Robotics and Automation,  Pasadena, California,  May 19-23, 2008. Download PDF
  6. O. Tahri, Y. Mezouar, N. Andreff and P. Martinet, ‘Omnidirectional Visual Servoing of Gough-Stewart Platform’.  In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007, San Diego, California, USA. Download PDF
  7. O. Tahri, C. Leroux, J-M Alexandre,   ’Pose estimation from less than six non-coplanar points’. In IEEE International  Conference  on Robotics and Automation,  ICRA'06, Orlando,  USA, Mai 2006.  Download PDF
  8. P. Li, O. Tahri, F. Chaumette, “A shape tracking algorithm for visual servoing”. In IEEE International Conference  on Robotics and Automation, ICRA'05, Barcelona, Spain, April 2005. Download PDF  
  9. O. Tahri, F. Chaumette, “Complex objects pose estimation based on image moment invariants”. In IEEE Int.ernational Conference  on Robotics and Automation, ICRA'05, Barcelona, Spain, April 2005.  Finalist best vision paper in ICRA2005.  Download PDF
  10. O. Tahri, F. Chaumette. ‘Image Moments: Generic Descriptors for   Decoupled Image-based Visual Servo’. In IEEE International  Conference  on Robotics and Automation, ICRA'04, Volume 2, Pages 1185-1190, New Orleans, USA, April 2004.  Download PDF  
  11. A. I. Comport, O. Tahri, E. Marchand, F. Chaumette. ‘Visual servoing with   respect to complex objects’.  In Int. Symp. On Robotics, ISR'04, Paris,  France, March 2004.  Download PDF 
  12. O. Tahri, F. Chaumette, ‘Application of moment invariants to visual servoing’.  In IEEE Int. Conf. on Robotics and Automation, ICRA'03, Volume 3, Pages  4276-4281, Taipeh, Taiwan, May 2003.  Download PDF  
 Technical Report  
  1. O. Tahri, F. Chaumette. ‘Determination of Moment Invariants and Their Application to Visual Servoing’, Internal report, IRISA, No 1539,  June 2003.Download PDF 

National Congress 

  1. C. Leroux, G. Chalubert, O. Tahri, S. Schmutz, N. Biard, I. Laffont, J-F Désert, J-M Alexandre, R. Gelin.  ‘Interface intelligente pour la saisie d'objets robotisée’.  Download PDF 
  2. O. Tahri, F. Chaumette. ‘Asservissement visuel à partir de moments invariants’. Congrès Francophone de Vision par Ordinateur, ORASIS'03, pp.  165-174, Gérardmer, France, May 2003
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