Bart Lamiroy

Institut national de recherche en sciences et technologies du numérique, Centre Inria de l'Université Grenoble Alpes

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About

Bart Lamiroy is a leading researcher in robotics and computer vision, with a core focus on visual servoing—the use of visual feedback to control robot motion. His major contributions lie in formalizing and improving the mathematical foundations of vision-based robot control. In his highly cited 2002 paper, "Controlling robots with two cameras: how to do it properly" (28 citations), Lamiroy demonstrated that conventional stereo visual servoing methods, which stack monocular Jacobians, produce over-constrained control commands. He provided a rigorous solution by incorporating the epipolar constraint, enabling more efficient and accurate dual-camera control. His related work, "What metric stereo can do for visual servoing" (5 citations), introduced practical geometric tools for building robust, self-calibrating servoing platforms. Lamiroy also advanced projective kinematics, applying uncalibrated visual control to real-world tasks, as seen in his work on visually guided robots for shipbuilding. His research bridges theory and application, offering elegant geometric insights that have shaped modern visual servoing. With a career spanning foundational theory and industrial deployment, Lamiroy’s work remains essential for students and engineers developing vision-based autonomous systems.