Дисертації з теми "Localisation 3D en temps réel"
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Decrouez, Marion. "Localisation et cartographie visuelles simultanées en milieu intérieur et en temps réel." Thesis, Grenoble, 2013. http://www.theses.fr/2013GRENM010/document.
In this thesis, we explore the problem of modeling an unknown environment using monocular vision for localization applications. We focus in modeling dynamic indoor environments. Many objects in indoor environments are likely to be moved. These movements significantly affect the structure and appearance of the environment and disrupt the existing methods of visual localization. We present in this work a new approach for modeling the environment and its evolution with time. We define explicitly the scene as a static structure and a set of dynamic objects. The object is defined as a rigid entity that a user can take, move and that is visually detectable. First, we show how to automatically discover new objects in a dynamic environment. Existing methods of visual localization simply ignore the inconsistencies due to changes in the scene. We aim to analyze these changes to extract additional information. Without any prior knowledge, an object is a set of points with coherent motion relative to the static structure of the scene. We combine two methods of visual localization to compare various explorations in the same environment taken at different time. The comparison enables to detect objects that have moved between the two shots. For each object, a geometric model and an appearance model are learned. Moreover, we extend the scene model while updating the metrical map and the topological map of the static structure of the environment. Object discovery using motion is based on a new algorithm of multiple structures detection in an image pair. Given a set of correspondences between two views, the method based on RANSAC extracts the different structures corresponding to different model parameterizations seen in the data. The method is applied to homography estimation to detect planar structures and to fundamental matrix estimation to detect structures that have been shifted one from another. Our approach for dynamic scene modeling is applied in a new formulation of place recognition to take into account the presence of dynamic objects in the environment. The model of the place consists in an appearance model of the static structure observed in that place. An object database is learned from previous observations in the environment with the method of object discovery using motion. The place recognition we propose detects the dynamic objects seen in the place and rejects the false detection due to these objects. The different methods described in this dissertation are tested on synthetic and real data. Qualitative and quantitative results are presented throughout the dissertation
Abuhadrous, Iyad. "Système embarqué temps réel de localisation et de modélisation 3D par fusion multi-capteur." Phd thesis, École Nationale Supérieure des Mines de Paris, 2005. http://pastel.archives-ouvertes.fr/pastel-00001118.
Mouragnon, Etienne. "Reconstruction 3D et localisation simultanée de caméras mobiles : une approche temps-réel par ajustement de faisceaux local." Phd thesis, Université Blaise Pascal - Clermont-Ferrand II, 2007. http://tel.archives-ouvertes.fr/tel-00925661.
Mouragnon, Etienne. "Reconstruction 3D et localisation simultanée de caméras mobiles : une approche temps-réel par ajustement de faisceaux local." Phd thesis, Clermont-Ferrand 2, 2007. http://www.theses.fr/2007CLF21799.
Picard, Quentin. "Proposition de mécanismes d'optimisation des données pour la perception temps-réel dans un système embarqué hétérogène." Electronic Thesis or Diss., université Paris-Saclay, 2023. http://www.theses.fr/2023UPASG039.
The development of autonomous systems has an increasing need for perception of the environment in embedded systems. Autonomous cars, drones, mixed reality devices have limited form factor and a restricted budget of power consumption for real-time performances. For instance, those use cases have a budget in the range of 300W-10W, 15W-10W and 10W-10mW respectively. This thesis is focused on autonomous and mobile systems with a budget of 10mW to 15W with the use of imager sensors and the inertial measurement unit (IMU). Simultaneous Localization And Mapping (SLAM) provides accurate and robust perception of the environment in real-time without prior knowledge for autonomous and mobile systems. The thesis aims at the real-time execution of the whole SLAM system composed of advanced perception functions, from localization to 3D reconstruction, with restricted hardware resources. In this context, two main questions are raised to answer the challenges of the literature. How to reduce the resource requirements of advanced perception functions? What is the SLAM pipeline partitioning for the heterogeneous system that integrates several computing units, from the embedded chip in the imager, to the near-sensor processing (FPGA) and in the embedded platform (ARM, embedded GPU)?. The first issue addressed in the thesis is about the need to reduce the hardware resources used by the SLAM pipeline, from the sensor output to the 3D reconstruction. In this regard, the work described in the manuscript provides two main contributions. The first one presents the processing in the embedded chip with an impact on the image characteristics by reducing the dynamic range. The second has an impact on the management of the image flow injected in the SLAM pipeline with a near-sensor processing. The first contribution aims at reducing the memory footprint of the SLAM algorithms with the evaluation of the pixel dynamic reduction on the accuracy and robustness of real-time localization and 3D reconstruction. The experiments show that we can reduce the input data up to 75% corresponding to 2 bits per pixel while maintaining a similar accuracy than the baseline 8 bits per pixel. Those results have been obtained with the evaluation of the accuracy and robustness of four SLAM algorithms on two databases. The second contribution aims at reducing the amount of data injected in SLAM with a decimation strategy to control the input frame rate, called the adaptive filtering. Data are initially injected in constant rate (20 frames per second). This implies a consumption of energy, memory, bandwidth and increases the complexity of calculation. Can we reduce this amount of data ? In SLAM, the accuracy and the number of operations depend on the movement of the system. With the linear and angular accelerations from the IMU, data are injected based on the movement of the system. Those key images are injected with the adaptive filtering approach (AF). Although the results depend on the difficulty of the chosen database, the experiments describe that the AF allows the decimation of up to 80% of the images while maintaining low localization and reconstruction errors similar to the baseline. This study shows that in the embedded context, the peak memory consumption is reduced up to 92%
Loesch, Angélique. "Localisation d'objets 3D industriels à l'aide d'un algorithme de SLAM contraint au modèle." Thesis, Université Clermont Auvergne (2017-2020), 2017. http://www.theses.fr/2017CLFAC059/document.
In the industry domain, applications such as quality control, automation of complex tasks or maintenance support with Augmented Reality (AR) could greatly benefit from visual tracking of 3D objects. However, this technology is under-exploited due to the difficulty of providing deployment easiness, localization quality and genericity simultaneously. Most existing solutions indeed involve a complex or an expensive deployment of motion capture sensors, or require human supervision to simplify the 3D model. And finally, most tracking solutions are restricted to textured or polyhedral objects to achieved an accurate camera pose estimation.Tracking any object is a challenging task due to the large variety of object forms and appearances. Industrial objects may indeed have sharp edges, or occluding contours that correspond to non-static and view-point dependent edges. They may also be textured or textureless. Moreover, some applications require to take large amplitude motions as well as object occlusions into account, tasks that are not always dealt with common model-based tracking methods. These approaches indeed exploit 3D features extracted from a model, that are matched with 2D features in the image of a video-stream. However the accuracy and robustness of the camera localization depend on the visibility of the object as well as on the motion of the camera. To better constrain the localization when the object is static, recent solutions rely on environment features that are reconstructed online, in addition to the model ones. These approaches combine SLAM (Simultaneous Localization And Mapping) and model-based tracking solutions by using constraints from the 3D model of the object of interest. Constraining SLAM algorithms with a 3D model results in a drift free localization. However, such approaches are not generic since they are only adapted for textured or polyhedral objects. Furthermore, using the 3D model to constrain the optimization process may generate high memory consumption,and limit the optimization to a temporal window of few cameras. In this thesis, we propose a solution that fulfills the requirements concerning deployment easiness, localization quality and genericity. This solution, based on a visual key-frame-based constrained SLAM, only exploits an RGB camera and a geometric CAD model of the static object of interest. An RGB camera is indeed preferred over an RGBD sensor, since the latter imposes limits on the volume, the reflectiveness or the absorptiveness of the object, and the lighting conditions. A geometric CAD model is also preferred over a textured model since textures may hardly be considered as stable in time (deterioration, marks,...) and may vary for one manufactured object. Furthermore, textured CAD models are currently not widely spread. Contrarily to previous methods, the presented approach deals with polyhedral and curved objects by extracting dynamically 3D contour points from a model rendered on GPU. This extraction is integrated as a structure constraint into the constrained bundle adjustment of a SLAM algorithm. Moreover we propose different formalisms of this constraint to reduce the memory consumption of the optimization process. These formalisms correspond to hybrid structure/trajectory constraints, that uses output camera poses of a model-based tracker. These formalisms take into account the structure information given by the 3D model while relying on the formalism of trajectory constraints. The proposed solution is real-time, accurate and robust to occlusion or sudden motion. It has been evaluated on synthetic and real sequences of different kind of objects. The results show that the accuracy achieved on the camera trajectory is sufficient to ensure a solution perfectly adapted for high-quality Augmented Reality experiences for the industry
Royer, Eric. "Cartographie 3D et localisation par vision monoculaire pour la navignation autonome d'un robot mobile." Phd thesis, Université Blaise Pascal - Clermont-Ferrand II, 2006. http://tel.archives-ouvertes.fr/tel-00698908.
Zarader, Pierre. "Transcranial ultrasound tracking of a neurosurgical microrobot." Electronic Thesis or Diss., Sorbonne université, 2024. http://www.theses.fr/2024SORUS054.
With the aim of treating brain tumors difficult to access with current surgical tools, Robeauté is developing an innovative microrobot to navigate deep brain areas with minimal invasiveness. The aim of this thesis was to develop and validate a transcranial ultrasound-based tracking system for the microrobot, in order to be able to implement robotic commands and thus guarantee both the safety and the effectiveness of the intervention.The proposed approach consists in positioning three ultrasound emitters on the patient's head, and embedding an ultrasound receiver on the microrobot. Knowing the speed of sound in biological tissue and the skull thickness crossed, it is possible to estimate the distances from the emitters to the receiver by time-of-flight measurements, and to deduce its 3D position by trilateration. A proof of concept was first carried out using a skull phantom of constant thickness, demonstrating submillimeter localization accuracy. The system was then evaluated using a calvaria phantom whose thickness and speed of sound in front of each emitter were deduced by CT scan. The system demonstrated an mean localization accuracy of 1.5 mm, i.e. a degradation in accuracy of 1 mm compared with the tracking through the skull phantom of constant thickness, explained by the uncertainty brought by the heterogeneous shape of the calvaria. Finally, three preclinical tests, without the possibility of assessing localization error, were carried out: (i) a post-mortem test on a human, (ii) a post-mortem test on a ewe, (iii) and an in vivo test on a ewe.Further improvements to the tracking system have been proposed, such as (i) the use of CT scan-based transcranial ultrasound propagation simulation to take account of skull heterogeneities, (ii) the miniaturization of the ultrasound sensor embedded in the microrobot, (iii) as well as the integration of ultrasound imaging to visualize local vascularization around the microrobot, thereby reducing the risk of lesions and detecting possible pathological angiogenesis
Holländer, Matthias. "Synthèse géométrique temps réel." Thesis, Paris, ENST, 2013. http://www.theses.fr/2013ENST0009/document.
Eal-time geometry synthesis is an emerging topic in computer graphics.Today's interactive 3D applications have to face a variety of challengesto fulfill the consumer's request for more realism and high quality images.Often, visual effects and quality known from offline-rendered feature films or special effects in movie productions are the ultimate goal but hard to achieve in real time.This thesis offers real-time solutions by exploiting the Graphics Processing Unit (GPU)and efficient geometry processing.In particular, a variety of topics related to classical fields in computer graphics such assubdivision surfaces, global illumination and anti-aliasing are discussedand new approaches and techniques are presented
Baele, Xavier. "Génération et rendu 3D temps réel d'arbres botaniques." Doctoral thesis, Universite Libre de Bruxelles, 2003. http://hdl.handle.net/2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/211314.
Itthirad, Frédéric. "Acquisition et traitement d'images 3D couleur temps réel." Thesis, Saint-Etienne, 2011. http://www.theses.fr/2011STET4011.
The existing 3D sensors aren’t much used and are only capable of capturing 3D dat. When 2D data are necessary, one has to use another camera and correlate the 2 images. NT2I has decided to develop its own solution in order to control the acquisition chain. My work has been to develop a specific camera with color, calibration, and image processing algorithms. In that purpose, I've worked on the extension of the LIP model (Logarithmic Image Processing) for color images and on the implementation of real time algorithms
Bleron, Alexandre. "Rendu stylisé de scènes 3D animées temps-réel." Thesis, Université Grenoble Alpes (ComUE), 2018. http://www.theses.fr/2018GREAM060/document.
The goal of stylized rendering is to render 3D scenes in the visual style intended by an artist.This often entails reproducing, with some degree of automation,the visual features typically found in 2D illustrationsthat constitute the "style" of an artist.Examples of these features include the depiction of light and shade,the representation of the contours of objects,or the strokes on a canvas that make a painting.This field is relevant today in domains such as computer-generated animation orvideo games, where studios seek to differentiate themselveswith styles that deviate from photorealism.In this thesis, we explore stylization techniques that can be easilyinserted into existing real-time rendering pipelines, and propose two novel techniques in this domain.Our first contribution is a workflow that aims to facilitatethe design of complex stylized shading models for 3D objects.Designing a stylized shading model that follows artistic constraintsand stays consistent under a variety of lightingconditions and viewpoints is a difficult and time-consuming process.Specialized shading models intended for stylization existbut are still limited in the range of appearances and behaviors they can reproduce.We propose a way to build and experiment with complex shading modelsby combining several simple shading behaviors using a layered approach,which allows a more intuitive and efficient exploration of the design space of shading models.In our second contribution, we present a pipeline to render 3D scenes in painterly styles,simulating the appearance of brush strokes,using a combination of procedural noise andlocal image filtering in screen-space.Image filtering techniques can achieve a wide range of stylized effects on 2D pictures and video:our goal is to use those existing filtering techniques to stylize 3D scenes,in a way that is coherent with the underlying animation or camera movement.This is not a trivial process, as naive approaches to filtering in screen-spacecan introduce visual inconsistencies around the silhouette of objects.The proposed method ensures motion coherence by guiding filters with informationfrom G-buffers, and ensures a coherent stylization of silhouettes in a generic way
Kaiser, Adrien. "Analyse de scène temps réel pour l'interaction 3D." Thesis, Université Paris-Saclay (ComUE), 2019. http://www.theses.fr/2019SACLT025/document.
This PhD thesis focuses on the problem of visual scene analysis captured by commodity depth sensors to convert their data into high level understanding of the scene. It explores the use of 3D geometry analysis tools on visual depth data in terms of enhancement, registration and consolidation. In particular, we aim to show how shape abstraction can generate lightweight representations of the data for fast analysis with low hardware requirements. This last property is important as one of our goals is to design algorithms suitable for live embedded operation in e.g., wearable devices, smartphones or mobile robots. The context of this thesis is the live operation of 3D interaction on a mobile device, which raises numerous issues including placing 3D interaction zones with relation to real surrounding objects, tracking the interaction zones in space when the sensor moves and providing a meaningful and understandable experience to non-expert users. Towards solving these problems, we make contributions where scene abstraction leads to fast and robust sensor localization as well as efficient frame data representation, enhancement and consolidation. While simple geometric surface shapes are not as faithful as heavy point sets or volumes to represent observed scenes, we show that they are an acceptable approximation and their light weight makes them well balanced between accuracy and performance
Kaiser, Adrien. "Analyse de scène temps réel pour l'interaction 3D." Electronic Thesis or Diss., Université Paris-Saclay (ComUE), 2019. http://www.theses.fr/2019SACLT025.
This PhD thesis focuses on the problem of visual scene analysis captured by commodity depth sensors to convert their data into high level understanding of the scene. It explores the use of 3D geometry analysis tools on visual depth data in terms of enhancement, registration and consolidation. In particular, we aim to show how shape abstraction can generate lightweight representations of the data for fast analysis with low hardware requirements. This last property is important as one of our goals is to design algorithms suitable for live embedded operation in e.g., wearable devices, smartphones or mobile robots. The context of this thesis is the live operation of 3D interaction on a mobile device, which raises numerous issues including placing 3D interaction zones with relation to real surrounding objects, tracking the interaction zones in space when the sensor moves and providing a meaningful and understandable experience to non-expert users. Towards solving these problems, we make contributions where scene abstraction leads to fast and robust sensor localization as well as efficient frame data representation, enhancement and consolidation. While simple geometric surface shapes are not as faithful as heavy point sets or volumes to represent observed scenes, we show that they are an acceptable approximation and their light weight makes them well balanced between accuracy and performance
Charmette, Baptiste. "Localisation temps-réel d'un robot par vision monoculaire et fusion multicapteurs." Phd thesis, Université Blaise Pascal - Clermont-Ferrand II, 2012. http://tel.archives-ouvertes.fr/tel-00828573.
Malasné, Nicolas. "Localisation et reconnaissance de visages en temps réel : algorithmes et architectures." Dijon, 2002. http://www.theses.fr/2002DIJOS045.
Holländer, Matthias. "Synthèse géométrique temps réel." Electronic Thesis or Diss., Paris, ENST, 2013. http://www.theses.fr/2013ENST0009.
Eal-time geometry synthesis is an emerging topic in computer graphics.Today's interactive 3D applications have to face a variety of challengesto fulfill the consumer's request for more realism and high quality images.Often, visual effects and quality known from offline-rendered feature films or special effects in movie productions are the ultimate goal but hard to achieve in real time.This thesis offers real-time solutions by exploiting the Graphics Processing Unit (GPU)and efficient geometry processing.In particular, a variety of topics related to classical fields in computer graphics such assubdivision surfaces, global illumination and anti-aliasing are discussedand new approaches and techniques are presented
Masson, Lucie. "Suivi temps-réel d'objets 3D pour la réalité augmentée." Phd thesis, Université Blaise Pascal - Clermont-Ferrand II, 2005. http://tel.archives-ouvertes.fr/tel-00685727.
Petit, Benjamin. "Téléprésence, immersion et interactions pour le reconstruction 3D temps-réel." Phd thesis, Université de Grenoble, 2011. http://tel.archives-ouvertes.fr/tel-00584001.
Filali, Wassim. "Détection temps réel de postures humaines par fusion d'images 3D." Toulouse 3, 2014. http://thesesups.ups-tlse.fr/3088/.
This thesis is based on a computer vision research project. It is a project that allows smart cameras to understand the posture of a person. It allows to know if the person is alright or if it is in a critical situation or in danger. The cameras should not be connected to a computer but embed all the intelligence in the camera itself. This work is based on the recent technologies like the Kinect sensor of the game console. This sensor is a depth sensor, which means that the camera can estimate the distance to every point in the scene. Our contribution consists on combining multiple of these cameras to have a better posture reconstruction of the person. We have created a dataset of images to teach the program how to recognize postures. We have adjusted the right parameters and compared our program to the one of the Kinect
Marsit, Nadhem. "Traitement des requêtes dépendant de la localisation avec des contraintes de temps réel." Toulouse 3, 2007. http://thesesups.ups-tlse.fr/106/.
In last years, the mobility of units achieved an increasing development. One of the direct consequences in the database field is the appearance of new types of queries such as Location Dependent Queries (LDQ) (e. G. An ambulance driver asks for the closest hospital). These queries raise problems which have been considered by several researches. Despite the intensive work related to this field, the different types of queries studied so far do not meet all the needs of location based applications. In fact these works don’t take into account the real time aspect required by certain location based applications. These new requirements generate new types of queries such as mobile queries with real time constraints. Taking into account mobility and real time constraints is an important problem to deal with. Hence, our main objective is to propose a solution for considering real time constraints while location dependent query processing. First, we propose a language for expressing different type of queries. Then, we design a software architecture allowing to process location dependent queries with real time constraints. The modules of this architecture are designed to be implemented on top of existent DBMS (e. G. Oracle). We propose methods to take into account location of mobile client and his displacement after sending the query. We also propose methods in order to maximise the percentage of queries respecting their deadlines. Finally we validate our proposal by implementing the proposed methods and evaluating their performance
Meilland, Maxime. "Cartographie RGB-D dense pour la localisation visuelle temps-réel et la navigation autonome." Phd thesis, Ecole Nationale Supérieure des Mines de Paris, 2012. http://tel.archives-ouvertes.fr/tel-00686803.
Abid, Mohamed Amine. "Systèmes de localisation en temps réel basés sur les réseaux de communication sans fil." Thèse, Université de Sherbrooke, 2016. http://hdl.handle.net/11143/8820.
Engels, Laurent. "Acquisition en temps réel, identification et mise en correspondance de données 3D." Doctoral thesis, Universite Libre de Bruxelles, 2011. http://hdl.handle.net/2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/209852.
Doctorat en Sciences de l'ingénieur
info:eu-repo/semantics/nonPublished
Chenu, E. "Optimisation polyédrique de terrain 3D pour une navigation interactive en temps réel." Aix-Marseille 3, 1998. http://www.theses.fr/1998AIX30039.
Guitteny, Vincent. "Traitement de séquences video : asynchronisme, reconstruction 3D et application en temps réel." Paris 6, 2008. http://www.theses.fr/2008PA066162.
Lagueux, Louis-Bernard. "Détection et localisation des discontinuités dans la simulation temps réel des circuits d'électronique de puissance." Mémoire, École de technologie supérieure, 2010. http://espace.etsmtl.ca/649/1/LAGUEUX_Louis%2DBernard.pdf.
Mendoza, Serrano César Augusto. "Interactions en temps réel de tissu mou avec découpe 3D et retour d'effort." Grenoble INPG, 2003. http://www.theses.fr/2003INPG0035.
Servant, F. "Localisation et cartographie simultanées en vision monoculaire et en temps réel basé sur les structures planes." Phd thesis, Université Rennes 1, 2009. http://tel.archives-ouvertes.fr/tel-00844909.
Barbosa, Nogueira Evanaska Maria. "Conception d'un système d'antennes pour la localisation en temps réel avec réseau de capteurs sans fils." Phd thesis, Université de Grenoble, 2013. http://tel.archives-ouvertes.fr/tel-00981583.
Servant, Fabien. "Localisation et cartographie simultanées en vision monoculaire et en temps réel basé sur les structures planes." Rennes 1, 2009. ftp://ftp.irisa.fr/techreports/theses/2009/servant.pdf.
Our work deals with computer vision. The problem of augmented reality implies a real time estimation of the relive position between camera and scene. This thesis presents a complete method of pose tracking that works with planar structures which are abundant in indoor and outdoor urban environments. The pose tracking is done using a low cost camera and an inertial sensor. Our approach is to use the planes to make the pose estimation easier. Homographies computed by an image tracking algorithm presented in this document are used as measurements for our Simultaneous Localization And Mapping method. This SLAM method permits a long term and robust pose tracking by propagating the measurements uncertainties. Works about selection of regions to track and their corresponding plane parameters initialization are also described in this thesis. Numerical and image based experiments shows the validity of our approach
Tykkälä, Tommi. "Suivi de caméra image en temps réel base et cartographie de l'environnement." Phd thesis, Université Nice Sophia Antipolis, 2013. http://tel.archives-ouvertes.fr/tel-00933813.
Bun, Long. "Détection et localisation de défauts pour un système PV." Phd thesis, Université de Grenoble, 2011. http://tel.archives-ouvertes.fr/tel-00647189.
Roussillon, Cyril. "Une solution opérationnelle de localisation pour des véhicules autonomes basée sur le SLAM." Thesis, Toulouse, INSA, 2013. http://www.theses.fr/2013ISAT0050/document.
There are numerous applications of outdoor autonomous mobile robots : surveillance of areas to detect anomalies, data acquisition campaigns, exploration, search of victims in disaster areas, etc. Robot localization is a key function in these contexts because it is necessary fora lot of essential robotics tasks, in particular to build environment models, follow paths or supervise the execution of the missions.This work presents the development of a localization solution for autonomous robots, designedto be both a generic research tool and an effective tool to localize robots navigating with highlydynamic movements.Starting with a simultaneous localization and mapping (SLAM) solution using a single camera,several solutions are successively built by gradually adding sensors, until obtaining a robust and precise system combining several cameras, an inertial sensor and odometry, which is inaddition able to integrate absolute position measures when available (e.g. as provided byGPS or a map-based localization scheme). A in-depth analysis of the abilities and limitations of the different systems is systematically made, in particular considering the advantages of estimating online extrinsic calibration parameters and sensor biases. A particular emphasisis set on real time execution of the algorithms on board the robots and on their robustness,requiring to address various problems related to temporal aspects of data management.Thorough evaluations using different realistic datasets allows to evaluate and validate the proposed work throughout the manuscript
Deschênes, Jean-Daniel. "Modélisation interactive : amélioration du processus de reconstruction d'un modèle 3D par la compression temps réel." Thesis, Université Laval, 2008. http://www.theses.ulaval.ca/2008/25372/25372.pdf.
Bui, Cao Vu. "Modélisation d'environnements intérieurs par reconstruction 3D en temps réel et extraction de plans architecturaux 2D." Thesis, Troyes, 2018. http://www.theses.fr/2018TROY0032.
Scene reconstruction is the process of building an accurate geometric model of one's environment from We explore the problem of complete scene reconstruction in indoor environments using mixed - data from the low-cost RGB-D camera and the inertial unit. The scanning process is realized in real-time, on the move with 6DoF of the numerizing system. We focus on computationally-constrained mobile systems, such as smartphone or tablet devices. Problematic issues present a set of fundamental challenges - estimating the state and trajectory of the device as it moves while scanning environment and utilizing lightweight data structures to hold the representation of the reconstructed scene. The system needs to be computationally and memory-efficient, so that it can run in real time, on-board the mobile device. The point-cloud resulted in the above module, which is non-structured and noisy cause of the quality of the low-cost sensor, needed a new method for the surface reconstruction. Our Dodecahedron Mapping is presented like a triangulation solution for the completed indoor environment scanning. After filtering and smoothing the point cloud, the algorithm tries to approximating the surface mesh by deforming and pasting the dodecahedron surface to the scanned point cloud. And the last stage of this research mission is to developing tools for the automatic extraction of 2D architectural plans from the 3D scanned building scene. This extracting process is also possible from the 3D point cloud or mesh by defining a section plane
Bauer, Armelle. "Modélisation anatomique utilisateur-spécifique et animation temps-réel : Application à l'apprentissage de l'anatomie." Thesis, Université Grenoble Alpes (ComUE), 2016. http://www.theses.fr/2016GREAM071/document.
To ease the complex task of anatomy learning, there exist many ways to represent and structure anatomy : illustrations, books, cadaver dissections and 3d models. However, it is difficult to understand and analyse anatomy motion, which is essential for medicine students. We present the "Living Book of Anatomy" (LBA), an original and innovative tool to learn anatomy. For a specific user, we superimpose a 3d anatomical model (skin, skeleton, muscles and visceras) onto the user’s color map and we animate it following the user’s movements. We present a real-time mirror-like augmented reality (AR) system. A Kinect is used to capturebody motions.The first innovation of our work is the identification of the user’s body measurements to register our 3d anatomical model. We propose two different methods to register anatomy.The first one is real-time and use affine transformations attached to rigid positioned on each joint given by the Kinect body tracking skeleton in order to deform the 3d anatomical model using skinning to fit the user’s measurements.The second method needs a few minutes to register the anatomy and is divided in 3 parts : skin deformation (using Kinect body tracking skeleton and the Kinect partial point cloud), with it and strict anatomical rules we register the skeleton. Lastly we deformm the soft tissues to completly fill the space inbetween the registered skeleton and skin.Secondly, we want to capture realistically and in real-time the user’s motion. To do that we need to reproduce anatomical structure motion but it is a complex task due to the noisy and often partial Kinect data. We propose here the use of anatomical rules concerning body articulations (angular limits and degrees of freedom) to constraint Kinect captured motion in order to obtain/gain plausible motions. a kalman filter is used to smooth the obtaiined motion capture.Lastly, to embed visual style and interaction, we use a full body reproduction to show general knowledge on human anatomy and its differents joints. We also use a lower-limb as structure of interest to higlight specific anatomical phenomenon, as muscular activity.All these tools have been integrated in a working system detailed in this thesis.We validated our tool/system by presenting it as a live demo during different conferences and through user studies done with students and professionnals from different backgrounds
Berranen, Mohamed Yacine. "Simulation 3D éléments-finis du muscle squelettique en temps-réel basée sur une approche multi-modèles." Thesis, Montpellier, 2015. http://www.theses.fr/2015MONTS043/document.
Corrective orthopedic surgeries results are difficult to be predicted and, unfortunately, sometimes unsuccessful. Other diseases resulting from a motor disability as bedsores are still poorly understood, despite a significant prevalence in the population. However, studies on these topics still insufficient especially for the analysis considering the muscle as a soft tissue volumetric organ. Muscle fascicule architectures and their correlation with movement efficiency is poorly documented, it lack of the detailed information regarding its volumetric deformations and stiffness changes along with muscle contractions.Muscle volumetric modeling, would provide a powerful tool for the personalized accurate simulation of body stresses of disabled or SCI patients during prolonged or friction contacts with standard medical devices non-adapted to particular morphologies, but also the planning of surgeries or functional electrical stimulation sequences.There is currently no software for automatic reconstruction of the architecture of fascicles, aponeurosis and tendons from MRI acquisitions of a specific subject. Actual volumetric muscle modeling is expensive in computational time, and not effective for real-time simulations of musculoskeletal system behavior with representation of physiological functions. The objective of this thesis is directed by the many contributions that have yet to make in the area. The current modeling methods based on the conventional finite element method are complex, inflexible or inaccurate in real-time. We propose a multi-model based on barycentric mapping approach that decouples the muscle strain density energy function into a set of independent less complex models, with the following objectives:- Improve complex muscle architecture reconstruction from the MRI acquisitions in term of complexity and flexibility.- Split muscle modeling into simple independent models, to offer more flexibility and reducing complexity of modeling which allows to have independent resolutions between deformable elements and muscle fiber elements..- By reducing the number of finite elements ensuring consistency of results of force and deformations, we reduce the computation time required for each simulation.Our methods are inspired by the previous work on the three-dimensional representation of the geometry and the complex architecture of muscles [Blemker and Delp, 2005]. In addition, the mathematical definition is studied [Chi et al., 2010] to characterize the energy density of deformations of skeletal muscle.Related with the above methods, we demand the following advances:- Improved three-dimensional representation of specific patients with muscle architecture and complex geometry from MRI measurement for personalized modeling. The method is more flexible and faster than previous.- A novel modeling method for muscle deformation via decoupled modeling of solid and muscle fiber mechanics is established. This new modeling allowed independent definitions between deformable elements and fiber force generation elements while keeping its muscle deformation accuracy. The performance is compared to conventional FEM method. - We reach high computational speed on standard machines for muscle complex simulations compared to FEM. Real-time simulation of specific person’s muscle strain and force is performed with an activation input updated in real-time from surface EMG measures.- Muscle modeling requires interdisciplinary knowledge from different research team members. The multi-model approach allows collaborative work, where each specialist focuses only on its area of expertise thanks to the modular designed modeling
Nogues, Jean-François. "Identification et localisation spatiale de cibles sous-marines. Apport d'un noyau temps réel à la réalisation d'une instrumentation évolutive." Toulouse 3, 1994. http://www.theses.fr/1994TOU30115.
Léger, Christophe. "Contribution au suivi volumique en temps réel du ventricule gauche par échocardiographie." Phd thesis, Université d'Orléans, 1993. http://tel.archives-ouvertes.fr/tel-00607860.
Belaroussi, Rachid. "Localisation du visage dans des images et séquences vidéo couleur." Paris 6, 2006. http://www.theses.fr/2006PA066338.
Robichaud, Vincent. "Architecture 3D sans contact et localisation par temps de vol pour tomographie optique diffuse par fluorescence." Mémoire, Université de Sherbrooke, 2007. http://savoirs.usherbrooke.ca/handle/11143/1437.
Dutreve, Ludovic. "Paramétrisation et transfert d'animations faciales 3D à partir de séquences vidéo : vers des applications en temps réel." Phd thesis, Université Claude Bernard - Lyon I, 2011. http://tel.archives-ouvertes.fr/tel-00863883.
Eynard, Rémy. "Investigation de l’impact de l’interaction sociale vocale sur l’expérience utilisateur dans les environnements 3D temps-réel immersif." Thesis, Paris, ENSAM, 2016. http://www.theses.fr/2016ENAM0013/document.
User experience has recently become a central issue regarding to the design of products or services. With the democratization of Virtual Reality (VR), more and more economic actors start to being aware of the potential of VR in their respective sectors.In this increasingly dynamic context, user experience (UX) allows the anticipation of users’ and designers’ expectations in order to offer the most satisfying experience as possible. In addition, through the anticipation of user experience, we are able to predict more precisely the adoption level of a technological solution by future users. We have understood today that the only technological dimension is no longer enough to ensure the success of a hardware and/or software product. However, this must fit to the use that user will have of it, and more, it must provide a unique experience, through sensations, perceptions, emotions and thinking, inducing the highest satisfaction possible.A consensus has been established since a long time about the fact that play, create, learn together are more effective and fun than a lonely activity. Share and communicate is a primary need, it is through social interactions with our peers that we are able to fulfill many of our needs, from the most pragmatic to the most ethereal. We have, through the empirical study conducted as part of this thesis, brought a better understanding of the impact of social interactions (vocal mode) on the user experience process in a 3D-IVE (3D Immersive Virtual Environment). Through a literature review based on existing studies of the impact of social interaction on virtual presence (feeling of being there) or on users’ engagement (flow), we propose a more holistic view of this impact by a study focused on the overall user experience.With this aim, we have conducted three experiments immersing pairs of users in a 3D-IVE. By the division of participants into two samples, one being able to vocally communicate, the other not being so, we were able to compare quantitative and qualitative data to highlight the impact of social interactions (voice) on the user experience. Obtained quantitative results have confirmed our assumptions regarding the beneficial impact of social interaction (voice) on user performance. Surprisingly, we also observed that the perceived virtual presence tended to be higher when participants that were not able to communicate vocally, relied on the natural phenomenon of “translucence”. However, we had to balance these results, given to focus groups that have arisen differences regarding to the apprehension of performances, virtual and social presence. This triangulation between objective quantitative, subjective quantitative and qualitative data has confirmed the variable nature of the UX (depending on the user and time) and the strong influence of the nature of the activity of the experimentation.Our studies have validated the ability of simple immersive environments (Minecraft game software) to generate a high level of virtual presence and engagement, and in general, a high level of satisfaction among users. We also provide an insight into methods to be used in this type of context regarding to the design of tasks. Indeed, the same task presented differently can induce a quite dissimilar experience. Despite the difficulty to generalize a result due to the highly variable nature of user experience, we believe that our work will contribute to a greater understanding of the impact of vocal social interactions on UX in 3D-IVEs
Dutreve, Ludovic. "Paramétrisation et transfert d’animations faciales 3D à partir de séquences vidéo : vers des applications en temps réel." Thesis, Lyon 1, 2011. http://www.theses.fr/2011LYO10054/document.
Facial animation is one of the key points of the realism of 3D scenes featuring virtual humans. This is due to several reasons : face and the many muscles that compose it can generate a multitude of expressions ; then, our faculty of perception provides us a great ability to detect and analyze its smallest variations. This complexity is reflected in existing approaches by the fact that it is very difficult to create an animation without a long and a tedious manual work. Based on these observations, this thesis aims to develop techniques that contribute to the process of creating facial animation. Three main themes have been addressed. The first concerns the rigging issue of a virtual 3D face for animation. Rigging aims at defining control parameters in order to deform and animate the face. The second deals with the animation, especially on the animation retargeting issue. The goal is to propose a method to animate a character’s face from various data. These data can be obtained from a motion capture system or from an existing 3D facial animation. Finally, we focus on animation finescale details like wrinkles. Although these are thin and discreet, their deformations play an important part in the perception and analysis of emotions. Therefore we propose a monocular acquisition technique and a reference pose based method to synthetise dynamically animation fine details over the face. The purpose is to propose methods to facilitate and improve the process of creating realistic facial animations for interactive applications. We focused on ease to use in addition to the real-time aspect. Moreover, we offer the possibility to the user or graphist to interact in order to personalize its creation and/or improve the results
Hautot, Félix. "Cartographie topographique et radiologique 3D en temps réel : acquisition, traitement, fusion des données et gestion des incertitudes." Thesis, Université Paris-Saclay (ComUE), 2017. http://www.theses.fr/2017SACLS141.
In the field of nuclear related activities such as maintenance, decontamination and dismantling status reports of potentially contaminated or activated elements are required beforehand. For economic reasons, this status report must be quickly performed. So as to be done quickly, the operation is realized by an operator, and his exposure time must be reduced as much as possible. Concerning indoor environments, it can be hard to make such investigations due to out-of-date plans or maps, loose of GPS signal, pre-positioning of underlying or precalibrated systems. Indeed, the premises status report is obtained by coupling nuclear measurements and topographical mapping. In such kind of situation it is necessary to have a portative instrument that delivers an exhaustive radiological and topographical mapping in order to deliver a decision support concerning the best intervention scenario to set up as fast as possible. Furthermore, and so as to reduce operator’s exposure time, such kind of method must be usable in real time. This method enables to proceed to complex intervention within the best radiological previsions for optimizing operator’s exposition time and waste management. In this goal, Areva STMI then developed a nuclear measurement probes autonomous positioning and motion estimation system based on visual SLAM (Simultaneous Localization And Mapping). These developments led to apply a patent. This thesis consisted in pursuing this survey, especially decomposing all the underlying systems, continuing the data fusion developments, proposing optimisations, and setting the basis of a real-time associated uncertainties analysis. SLAM based on visual odometry can be performed with RGB-D sensor (Microsoft Kinect®-like sensors). The acquisition process delivers a 3D map containing radiological sensors poses (positions and orientations in 3D) and measurements (dose rate and CZT gamma spectrometry) without any external signal or device. Moreover, a few radioactive sources localization algorithms based on geostatistics and back projection of measurements can also be performed in near real-time. It is then possible to evaluate the position of radioactive sources in the scene and compute fast radiological mappings of premises close to the acquisition. The last part of this work consisted in developing an original method for real-time evaluation of the process chain and results accuracies. The evaluation of uncertainties and their propagation along the acquisition and process chain in real-time provide feedbacks on employed methods for investigations or intervention processes and enable to evaluate the reliability of acquired data. Finally, a set of benchmarks has been performed in order to estimate the results quality by comparing them to reference methods
Kolar, Anthony. "Contribution à la conception et réalisation d'un capteur de vision 3D intégré." Paris 6, 2009. http://www.theses.fr/2009PA066466.
Adambounou, Kokou. "Mise au point et installation d'une plateforme de télé-expertise échographique temps réel et de télédiagnostic échographique temps différé au CHU de Lomé pour servir les centres médicaux périphériques." Thesis, Tours, 2012. http://www.theses.fr/2012TOUR3313/document.
Introduction: Telemedicine generally, and telesonography in particular, is one of undeniable solutions to the problem of specialists’ shortage specially in developing countries with regard to the progress ceaselessly growing of the new technologies of information and communication. Purpose: Design and validate a .system of real time ultrasound tele-expertise, and delayed ultrasound tele-diagnostic between isolated peripherals hospitals and University Hospital center (Expert center) functioning with a lesser infrastructure cost accessible to low digital environment countries like Togo. Materials and Methods: An IP camera and an internet video server are installed in a geographically isolated site equipped with an echograph served by an echographist of first level. Real time tele-expertise (second opinion diagnosis) is possible via internet with an expert center
Rabatel, Gilles. "Localisation de fruits en environnement naturel par segmentation d'images polychromes : application à la réalisation d'un dispositif de localisation en temps réel pour la récolte robotisée des fruits fragiles." Bordeaux 1, 1988. http://www.theses.fr/1988BOR10619.
Bossu, Jérémie. "Segmentation d’images pour la localisation d’adventices : application à la réalisation d’un système de vision pour une pulvérisation spécifique en temps réel." Dijon, 2007. http://www.theses.fr/2007DIJOS079.