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Rozprawy doktorskie na temat "Caméras catadioptriques"
Salazar-Garibay, Adan. "Une approche directe pour l'auto-calibration des caméras catadioptriques omnidirectionnelles centrales". Phd thesis, École Nationale Supérieure des Mines de Paris, 2011. http://pastel.archives-ouvertes.fr/pastel-00645697.
Pełny tekst źródłaDucrocq, Julien. "Vision catadioptrique pour favoriser la perception d'environnements hétérogènes". Electronic Thesis or Diss., Amiens, 2022. http://www.theses.fr/2022AMIE0067.
Pełny tekst źródłaThis thesis presents the conception methods of two catadioptric cameras capable of recording usable images of heterogeneous environments. These cameras belong to the adaptive vision field, which gathers the cameras of which the optics or sensor have heterogeneous properties which can vary across time. Adaptive cameras abilities include capturing heterogenous environments which physical or geometrical properties change across space. This thesis proposes a survey of the state of the art on adaptive cameras which are able to capture specific types of heterogenous environments. On the one hand, we consider the scenes characterized by a spatial variation of radiances, with a dynamic range around 120 decibels. These scenes put conventional cameras in difficulty, their images have some pixels saturated and others to dark, because of their low dynamic range. In both casses, these image regions does not carry any visual information about the scene, they are not usable. In order to capture the radiances corresponding to these bright and dark areas, the high dynamic range cameras (HDR) are used. Nonetheless, there is no available HDR panoramic camera yet. Therefore, the first contribution of this thesis is the conception of an HDR panoramic camera in order to improve robots navigation, with only visual perception, in outdoor scenes with various. Mounted on a mobile robot, this camera enlarges the convergence domain and the positioning accuracy of a robot by direct visual servoing, outdoors. On the other hand, we consider the scenes which have a non-uniform level of details across space : some scene elements carry more visual information than the others. To capture such heterogeneous environments, the second contribution of this thesis is an adaptive camera. This camera is based on a new deformable mirror of local curvatures allowing to enlarge or reduce the number of pixels occupied by scene regions in the image. This camera, nicknamed Visadapt, capture multi-résolution images which depend on scene content. From one scene to another, the shape of the mirror may be changed to optimise the resolution of the images captured to this new scene. The surface of the mirror is made of material both reflective and deformable, the mylar, and changes of shape thanks to a grid of linear actuators placed underneath. This mirror, plan as an initial state, is able to change shape to give to the scene regions captured by Visadapt the desired resolution in the image. The characteristics of Visadapt, particularly the dimensions, the materials of its different elements and the actuators pitch, have been defined thanks to a simulation study. A real prototype have been built to respect the parameters defined by the simulation. The experiments shown that this prototype is able to magnify up to four scene regions at once. This thesis ends with a conclusion presenting future works to upgrade the prototypes of the two cameras, in order to enhance their performances and the diversity of images they can capture. Furthermore, this conclusion proposes research tracks to improve even further these two cameras and even adaptive vision in general
Mohtaram, Noureddine. "Reconstruction 3D dense d'objets sans recul par vision catadioptrique". Electronic Thesis or Diss., Amiens, 2019. http://www.theses.fr/2019AMIE0023.
Pełny tekst źródłaThis PhD work focuses on the problem of complete dense 3D reconstruction of objects without recoil. We have conceived and developed a tridimensional reconstruction system of real objects based on a camera with two planar mirrors; baptised as a Planar Catadioptric Stereo (PCS) system. We first model the PCS system by a network of virtual cameras to perform calibration. Then, we formulate the problem of characteristic points' correspondences detected on the reflected images by using a variant of the ASIFT method. This adaptation which we behold as AMIFT on the mirror planes. Putative point correspondences are further refined with outlier rejection using our method of Symmetric RANSAC proposed in this thesis. To reconstruct a proper dense object surface, and not just a sparse projection of points, a dense correspondence technique is consequently required. This method estimates the geometric transformation linking the image object with one of it’s inter-reflections on the mirror planes by minimizing a branch and bound cost function. This allows us to adapt the 3D dense reconstruction, fundamentally based on the triangulation of image correspondences. We apply this 3D reconstruction pipeline on multiple catadioptric images in order to verify the undermining hypothesis using a PCS system. Our methodology is validated using experimental results on synthetic images to illustrate the quality of the 3D reconstruction
Yu, Shuda. "Modélisation 3D automatique d'environnements : une approche éparse à partir d'images prises par une caméra catadioptrique". Phd thesis, Université Blaise Pascal - Clermont-Ferrand II, 2013. http://tel.archives-ouvertes.fr/tel-00844401.
Pełny tekst źródłaAziz, Fatima. "Approche géométrique couleur pour le traitement des images catadioptriques". Thesis, Limoges, 2018. http://www.theses.fr/2018LIMO0080/document.
Pełny tekst źródłaThis manuscript investigates omnidirectional catadioptric color images as Riemannian manifolds. This geometric representation offers insights into the resolution of problems related to the distortions introduced by the catadioptric system in the context of the color perception of autonomous systems. The report starts with an overview of the omnidirectional vision, the different used systems, and the geometric projection models. Then, we present the basic notions and tools of Riemannian geometry and its use in the image processing domain. This leads us to introduce some useful differential operators on Riemannian manifolds. We develop a method of constructing a hybrid metric tensor adapted to color catadioptric images. This tensor has the dual characteristic of depending on the geometric position of the image points and their photometric coordinates as well.In this work, we mostly deal with the exploitation of the previously constructed hybrid metric tensor in the catadioptric image processing. Indeed, it is recognized that the Gaussian function is at the core of several filters and operators for various applications, such as noise reduction, or the extraction of low-level characteristics from the Gaussian space- scale representation. We thus build a new Gaussian kernel dependent on the Riemannian metric tensor. It has the advantage of being applicable directly on the catadioptric image plane, also, variable in space and depending on the local image information. As a final part in this thesis, we discuss some possible robotic applications of the hybrid metric tensor. We propose to define the free space and distance transforms in the omni- image, then to extract geodesic medial axis. The latter is a relevant topological representation for autonomous navigation, that we use to define an optimal trajectory planning method
Fofi, David. "Contributions à la Vision par Ordinateur pour les Systèmes en Lumière Structurée et les Systèmes Catadioptriques". Habilitation à diriger des recherches, Université de Bourgogne, 2008. http://tel.archives-ouvertes.fr/tel-00950264.
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