

de Recherche et d’Innovation
en Cybersécurité et Société
Abdollahzadeh, S.; Allili, M. S.; Boulmerka, A.; Lapointe, J. -F.
Visual Safety Mapping for UAV Landings Using Ordinal Regression Networks Journal Article
In: IEEE Transactions on Artificial Intelligence, vol. 7, no. 6, pp. 3146–3159, 2026, ISSN: 26914581 (ISSN).
Abstract | Links | BibTeX | Tags: Aerial vehicle, Air navigation, Aircraft landing, Antennas, Automatic uncrewed aerial vehicle (UAV) navigation, Automatic unmanned aerial vehicle navigation, Autonomous navigation, Behavioral research, Computer vision, decision making, Deep learning, deep ordinal regression, Emergency services, Landing zones, Learning systems, Ordinal regression, regression analysis, Safe landing, Safe landing zone, safe landing zones (SLZs), Semantic segmentation, Semantics, Textures, Three dimensional computer graphics, Unmanned aerial vehicles (UAV), Vehicle navigation, Visual servoing
@article{abdollahzadehVisualSafetyMapping2026,
title = {Visual Safety Mapping for UAV Landings Using Ordinal Regression Networks},
author = {S. Abdollahzadeh and M. S. Allili and A. Boulmerka and J. -F. Lapointe},
url = {https://www.scopus.com/pages/publications/105023324811?origin=resultslist},
doi = {10.1109/TAI.2025.3635093},
issn = {26914581 (ISSN)},
year = {2026},
date = {2026-01-01},
journal = {IEEE Transactions on Artificial Intelligence},
volume = {7},
number = {6},
pages = {3146–3159},
publisher = {Institute of Electrical and Electronics Engineers Inc.},
abstract = {As uncrewed aerial vehicles (UAVs) see growing use in civilian applications, reliably identifying safe landing zones (SLZs) in varied environments is essential for autonomous navigation and emergency response. Passive vision sensors offer a low cost, lightweight solution for real-time terrain analysis and 3D scene reconstruction, making them ideal for onboard systems. We introduce ordinal regression safe landing zones netwrok (OR-SLZNet), an original deep learning model based on ordinal regression to predict SLZs from UAV imagery. Unlike prior approaches, OR-SLZNet produces dense, multilevel safety maps by jointly leveraging photometric (e.g., color and texture) and geometric cues (e.g., flatness, slope, and depth), assigning each pixel an ordinal safety score that reflects landing suitability. With real-time inference (textbackslashsim0.02 s/frame), the model supports onboard deployment and rapid decision-making in time-critical situations. Extensive experiments on five diverse datasets demonstrate OR-SLZNet effectiveness and strong generalization across a wide range of structural complexities. © 2020 IEEE.},
keywords = {Aerial vehicle, Air navigation, Aircraft landing, Antennas, Automatic uncrewed aerial vehicle (UAV) navigation, Automatic unmanned aerial vehicle navigation, Autonomous navigation, Behavioral research, Computer vision, decision making, Deep learning, deep ordinal regression, Emergency services, Landing zones, Learning systems, Ordinal regression, regression analysis, Safe landing, Safe landing zone, safe landing zones (SLZs), Semantic segmentation, Semantics, Textures, Three dimensional computer graphics, Unmanned aerial vehicles (UAV), Vehicle navigation, Visual servoing},
pubstate = {published},
tppubtype = {article}
}
Chagnon-Forget, M.; Rouhafzay, G.; Cretu, A. -M.; Bouchard, S.
Enhanced Visual-Attention Model for Perceptually Improved 3D Object Modeling in Virtual Environments Journal Article
In: 3D Research, vol. 7, no. 4, 2016, ISSN: 20926731 (ISSN), (Publisher: 3D Display Research Center).
Abstract | Links | BibTeX | Tags: 3-d modeling, 3D modeling, Behavioral research, Complex networks, Interest points, Level of detail, Mesh simplification, Mesh simplifications, Saliency, Three dimensional computer graphics, virtual reality, Visual Attention
@article{chagnon-forget_enhanced_2016,
title = {Enhanced Visual-Attention Model for Perceptually Improved 3D Object Modeling in Virtual Environments},
author = {M. Chagnon-Forget and G. Rouhafzay and A. -M. Cretu and S. Bouchard},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-84991727567&doi=10.1007%2fs13319-016-0106-7&partnerID=40&md5=136feba48a1aa3ff798619f8d734c956},
doi = {10.1007/s13319-016-0106-7},
issn = {20926731 (ISSN)},
year = {2016},
date = {2016-01-01},
journal = {3D Research},
volume = {7},
number = {4},
publisher = {3D Display Research Center},
abstract = {Three-dimensional object modeling and interactive virtual environment applications require accurate, but compact object models that ensure real-time rendering capabilities. In this context, the paper proposes a 3D modeling framework employing visual attention characteristics in order to obtain compact models that are more adapted to human visual capabilities. An enhanced computational visual attention model with additional saliency channels, such as curvature, symmetry, contrast and entropy, is initially employed to detect points of interest over the surface of a 3D object. The impact of the use of these supplementary channels is experimentally evaluated. The regions identified as salient by the visual attention model are preserved in a selectively-simplified model obtained using an adapted version of the QSlim algorithm. The resulting model is characterized by a higher density of points in the salient regions, therefore ensuring a higher perceived quality, while at the same time ensuring a less complex and more compact representation for the object. The quality of the resulting models is compared with the performance of other interest point detectors incorporated in a similar manner in the simplification algorithm. The proposed solution results overall in higher quality models, especially at lower resolutions. As an example of application, the selectively-densified models are included in a continuous multiple level of detail (LOD) modeling framework, in which an original neural-network solution selects the appropriate size and resolution of an object. © 2016, 3D Research Center, Kwangwoon University and Springer-Verlag Berlin Heidelberg.},
note = {Publisher: 3D Display Research Center},
keywords = {3-d modeling, 3D modeling, Behavioral research, Complex networks, Interest points, Level of detail, Mesh simplification, Mesh simplifications, Saliency, Three dimensional computer graphics, virtual reality, Visual Attention},
pubstate = {published},
tppubtype = {article}
}
Chagnon-Forget, M.; Rouhafzay, G.; Cretu, A. -M.; Bouchard, S.
Enhanced Visual-Attention Model for Perceptually Improved 3D Object Modeling in Virtual Environments Journal Article
In: 3D Research, vol. 7, no. 4, 2016, ISSN: 20926731 (ISSN).
Abstract | Links | BibTeX | Tags: 3-d modeling, 3D modeling, Behavioral research, Complex networks, Interest points, Level of detail, Mesh simplification, Mesh simplifications, Saliency, Three dimensional computer graphics, virtual reality, Visual Attention
@article{chagnon-forgetEnhancedVisualAttentionModel2016,
title = {Enhanced Visual-Attention Model for Perceptually Improved 3D Object Modeling in Virtual Environments},
author = {M. Chagnon-Forget and G. Rouhafzay and A. -M. Cretu and S. Bouchard},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-84991727567&doi=10.1007%2fs13319-016-0106-7&partnerID=40&md5=136feba48a1aa3ff798619f8d734c956},
doi = {10.1007/s13319-016-0106-7},
issn = {20926731 (ISSN)},
year = {2016},
date = {2016-01-01},
journal = {3D Research},
volume = {7},
number = {4},
publisher = {3D Display Research Center},
abstract = {Three-dimensional object modeling and interactive virtual environment applications require accurate, but compact object models that ensure real-time rendering capabilities. In this context, the paper proposes a 3D modeling framework employing visual attention characteristics in order to obtain compact models that are more adapted to human visual capabilities. An enhanced computational visual attention model with additional saliency channels, such as curvature, symmetry, contrast and entropy, is initially employed to detect points of interest over the surface of a 3D object. The impact of the use of these supplementary channels is experimentally evaluated. The regions identified as salient by the visual attention model are preserved in a selectively-simplified model obtained using an adapted version of the QSlim algorithm. The resulting model is characterized by a higher density of points in the salient regions, therefore ensuring a higher perceived quality, while at the same time ensuring a less complex and more compact representation for the object. The quality of the resulting models is compared with the performance of other interest point detectors incorporated in a similar manner in the simplification algorithm. The proposed solution results overall in higher quality models, especially at lower resolutions. As an example of application, the selectively-densified models are included in a continuous multiple level of detail (LOD) modeling framework, in which an original neural-network solution selects the appropriate size and resolution of an object. © 2016, 3D Research Center, Kwangwoon University and Springer-Verlag Berlin Heidelberg.},
keywords = {3-d modeling, 3D modeling, Behavioral research, Complex networks, Interest points, Level of detail, Mesh simplification, Mesh simplifications, Saliency, Three dimensional computer graphics, virtual reality, Visual Attention},
pubstate = {published},
tppubtype = {article}
}
Cavrag, M.; Lariviere, G.; Cretu, A. -M.; Bouchard, S.
Interaction with virtual spiders for eliciting disgust in the treatment of phobias Proceedings Article
In: 2014 IEEE International Symposium on Haptic, Audio and Visual Environments and Games, HAVE 2014 - Proceedings, pp. 29–34, Institute of Electrical and Electronics Engineers Inc., 2014, ISBN: 978-1-4799-5963-1.
Abstract | Links | BibTeX | Tags: 3D modeling, 3D object modeling, Computing power, Haptic devices, Haptic interactions, Phobia treatment, Software options, Therapeutic tools, Three dimensional computer graphics, virtual reality, Virtual worlds
@inproceedings{cavrag_interaction_2014,
title = {Interaction with virtual spiders for eliciting disgust in the treatment of phobias},
author = {M. Cavrag and G. Lariviere and A. -M. Cretu and S. Bouchard},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-84915750018&doi=10.1109%2fHAVE.2014.6954327&partnerID=40&md5=3a5d157dd5db4f894c90fa99996e7330},
doi = {10.1109/HAVE.2014.6954327},
isbn = {978-1-4799-5963-1},
year = {2014},
date = {2014-01-01},
booktitle = {2014 IEEE International Symposium on Haptic, Audio and Visual Environments and Games, HAVE 2014 - Proceedings},
pages = {29–34},
publisher = {Institute of Electrical and Electronics Engineers Inc.},
abstract = {Virtual reality has already been successfully used as a therapeutic tool for the treatment of various phobias. Due to advances in the 3D graphics and in the computing power, the real-time visual rendering of a virtual world poses no significant problems nowadays. However, the haptic interaction with such environments remains a challenge. This paper explores the haptic interaction with a dedicated virtual environment in spider phobia treatment to elicit disgust, as changes in fear and in disgust were shown to be highly associated with the observed decline in arachnophobic symptoms. A dedicated virtual environment is programmed within which a Novint Falcon haptic device is used for the interaction with a virtual spider. Different software options for interfacing with the haptic device and for the modeling of 3D objects are compared and discussed. Three testing scenarios are implemented that allow a subject to be gradually exposed to his/her spider phobia. © 2014 IEEE.},
keywords = {3D modeling, 3D object modeling, Computing power, Haptic devices, Haptic interactions, Phobia treatment, Software options, Therapeutic tools, Three dimensional computer graphics, virtual reality, Virtual worlds},
pubstate = {published},
tppubtype = {inproceedings}
}
Bouchard, S.; Bernier, F.; Boivin, É.; Guitard, T.; Laforest, M.; Dumoulin, S.; Robillard, G.
Modes of immersion and stress induced by commercial (off-the-shelf) 3D games Journal Article
In: Journal of Defense Modeling and Simulation, vol. 11, no. 4, pp. 339–352, 2014, ISSN: 15485129, (Publisher: SAGE Publications Inc.).
Abstract | Links | BibTeX | Tags: 3-D videos, Commercial off-the-shelf, Cost effectiveness, Human computer interaction, Human resource management, immersion, Physiological change, physiology, Serious games, Soldiers, Stereo image processing, Stress management, Stress test, Stresses, Stressful emotions, Three dimensional computer graphics, virtual reality
@article{bouchard_modes_2014,
title = {Modes of immersion and stress induced by commercial (off-the-shelf) 3D games},
author = {S. Bouchard and F. Bernier and É. Boivin and T. Guitard and M. Laforest and S. Dumoulin and G. Robillard},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-84928156971&doi=10.1177%2f1548512912446359&partnerID=40&md5=59116f3611c07948453d1cb5e474dfbb},
doi = {10.1177/1548512912446359},
issn = {15485129},
year = {2014},
date = {2014-01-01},
journal = {Journal of Defense Modeling and Simulation},
volume = {11},
number = {4},
pages = {339–352},
publisher = {SAGE Publications Inc.},
abstract = {Developing a stress-management training (SMT) system and protocol for soldiers can help them cope better with stress experienced in theatre operations. Using 3D horror games in virtual reality (VR) can present an attractive simulation method for soldiers. This study was conducted to find out whether it is possible to stress soldiers moderately using VR and which technology is more efficient to do so. A total of 47 soldiers returning from Afghanistan played two 3D firstperson shooter (FPS)/horror games (Killing Floor and Left 4 Dead) on three different types of immersive technologies (a 22-inch stereoscopic monitor, a 73-inch stereoscopic TV and a CAVE™). As a control and reference comparison of induced stress, participants were exposed to the Trier Social Stress Test (TSST), a standardized stress-inducing procedure. Results were supporting of our work, devising an effective low-cost and high-buy-in approach to assist in teaching and practicing stress-management skills. Repeated measures analyses of variance (ANOVAs) revealed statistically significant increases in the soldiers’ respiration rates and heart rates while playing the 3D games and during the TSSTs. No significant interactions were found. Increases in physiological arousal among the soldiers were significant when comparing the baseline to the immersion and to the TSST, but not when comparing both stressors. Immersion in 3D games is proposed as a practical and cost-effective option to create a context that allows practicing SMT. © 2013 The Society for Modeling.},
note = {Publisher: SAGE Publications Inc.},
keywords = {3-D videos, Commercial off-the-shelf, Cost effectiveness, Human computer interaction, Human resource management, immersion, Physiological change, physiology, Serious games, Soldiers, Stereo image processing, Stress management, Stress test, Stresses, Stressful emotions, Three dimensional computer graphics, virtual reality},
pubstate = {published},
tppubtype = {article}
}
Cavrag, M.; Lariviere, G.; Cretu, A. -M.; Bouchard, S.
Interaction with virtual spiders for eliciting disgust in the treatment of phobias Proceedings Article
In: 2014 IEEE International Symposium on Haptic, Audio and Visual Environments and Games, HAVE 2014 - Proceedings, pp. 29–34, Institute of Electrical and Electronics Engineers Inc., 2014, ISBN: 978-1-4799-5963-1.
Abstract | Links | BibTeX | Tags: 3D modeling, 3D object modeling, Computing power, Haptic devices, Haptic interactions, Phobia treatment, Software options, Therapeutic tools, Three dimensional computer graphics, virtual reality, Virtual worlds
@inproceedings{cavragInteractionVirtualSpiders2014,
title = {Interaction with virtual spiders for eliciting disgust in the treatment of phobias},
author = {M. Cavrag and G. Lariviere and A. -M. Cretu and S. Bouchard},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-84915750018&doi=10.1109%2fHAVE.2014.6954327&partnerID=40&md5=3a5d157dd5db4f894c90fa99996e7330},
doi = {10.1109/HAVE.2014.6954327},
isbn = {978-1-4799-5963-1},
year = {2014},
date = {2014-01-01},
booktitle = {2014 IEEE International Symposium on Haptic, Audio and Visual Environments and Games, HAVE 2014 - Proceedings},
pages = {29–34},
publisher = {Institute of Electrical and Electronics Engineers Inc.},
abstract = {Virtual reality has already been successfully used as a therapeutic tool for the treatment of various phobias. Due to advances in the 3D graphics and in the computing power, the real-time visual rendering of a virtual world poses no significant problems nowadays. However, the haptic interaction with such environments remains a challenge. This paper explores the haptic interaction with a dedicated virtual environment in spider phobia treatment to elicit disgust, as changes in fear and in disgust were shown to be highly associated with the observed decline in arachnophobic symptoms. A dedicated virtual environment is programmed within which a Novint Falcon haptic device is used for the interaction with a virtual spider. Different software options for interfacing with the haptic device and for the modeling of 3D objects are compared and discussed. Three testing scenarios are implemented that allow a subject to be gradually exposed to his/her spider phobia. © 2014 IEEE.},
keywords = {3D modeling, 3D object modeling, Computing power, Haptic devices, Haptic interactions, Phobia treatment, Software options, Therapeutic tools, Three dimensional computer graphics, virtual reality, Virtual worlds},
pubstate = {published},
tppubtype = {inproceedings}
}
Bouchard, S.; Bernier, F.; Boivin, É.; Guitard, T.; Laforest, M.; Dumoulin, S.; Robillard, G.
Modes of immersion and stress induced by commercial (off-the-shelf) 3D games Journal Article
In: Journal of Defense Modeling and Simulation, vol. 11, no. 4, pp. 339–352, 2014, ISSN: 15485129.
Abstract | Links | BibTeX | Tags: 3-D videos, Commercial off-the-shelf, Cost effectiveness, Human computer interaction, Human resource management, immersion, Physiological change, physiology, Serious games, Soldiers, Stereo image processing, Stress management, Stress test, Stresses, Stressful emotions, Three dimensional computer graphics, virtual reality
@article{bouchardModesImmersionStress2014,
title = {Modes of immersion and stress induced by commercial (off-the-shelf) 3D games},
author = {S. Bouchard and F. Bernier and É. Boivin and T. Guitard and M. Laforest and S. Dumoulin and G. Robillard},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-84928156971&doi=10.1177%2f1548512912446359&partnerID=40&md5=59116f3611c07948453d1cb5e474dfbb},
doi = {10.1177/1548512912446359},
issn = {15485129},
year = {2014},
date = {2014-01-01},
journal = {Journal of Defense Modeling and Simulation},
volume = {11},
number = {4},
pages = {339–352},
publisher = {SAGE Publications Inc.},
abstract = {Developing a stress-management training (SMT) system and protocol for soldiers can help them cope better with stress experienced in theatre operations. Using 3D horror games in virtual reality (VR) can present an attractive simulation method for soldiers. This study was conducted to find out whether it is possible to stress soldiers moderately using VR and which technology is more efficient to do so. A total of 47 soldiers returning from Afghanistan played two 3D firstperson shooter (FPS)/horror games (Killing Floor and Left 4 Dead) on three different types of immersive technologies (a 22-inch stereoscopic monitor, a 73-inch stereoscopic TV and a CAVE™). As a control and reference comparison of induced stress, participants were exposed to the Trier Social Stress Test (TSST), a standardized stress-inducing procedure. Results were supporting of our work, devising an effective low-cost and high-buy-in approach to assist in teaching and practicing stress-management skills. Repeated measures analyses of variance (ANOVAs) revealed statistically significant increases in the soldiers’ respiration rates and heart rates while playing the 3D games and during the TSSTs. No significant interactions were found. Increases in physiological arousal among the soldiers were significant when comparing the baseline to the immersion and to the TSST, but not when comparing both stressors. Immersion in 3D games is proposed as a practical and cost-effective option to create a context that allows practicing SMT. © 2013 The Society for Modeling.},
keywords = {3-D videos, Commercial off-the-shelf, Cost effectiveness, Human computer interaction, Human resource management, immersion, Physiological change, physiology, Serious games, Soldiers, Stereo image processing, Stress management, Stress test, Stresses, Stressful emotions, Three dimensional computer graphics, virtual reality},
pubstate = {published},
tppubtype = {article}
}



