Reconstruction 3D infrarouge par perception active

Benoit Ducarouge 1, 2
1 LAAS-RAP - Équipe Robotique, Action et Perception
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : This dissertation was lead in the context of the R3T project (Real Time and True Temperature measurement), dedicated to metrology from thermal infrared measurements. The estimation of true temperature from apparent temperature measurement by an infrared camera uses a radiometric model which depends on nature and shape of the considered object. This work focuses on the construction of a geometric model from infrared cameras moved by a robot around an object. Those cameras, in comparison with standard ones, have speci c characteristics : low resolution, low texture. To minimize the complexity and easily implement the nal system, we chose an stereo approach using uncalibrated cameras. So we have an infrared stereoring embeded on a Cartesian robot, to acquire multiple views of the object of interest. First, the main steps implemented concern uncalibrated images recti cation and autocalibration of infrared stereoring and hand-eye transformation without use of a calibration pattern. Then, the reconstruction of locals 3D models and the merge of these models was done to reach a global model of the object. The contributions cover the rst two stages, recti cation and autocalibration, for the other stereo reconstruction steps, di erent algorithms were tested and the best was chosen for our application. For the uncalibrated images recti cation, an optimization approach under constraints is proposed. The estimation of recti cation homographies is done, without the Fundamental matrix determination, while minimizing the distortion between original and corrected images. The cost function is based on the Sampson's distance with breakdown of the Fundamental matrix. Two constraints, geometrical and analytical, are compared to minimize distortion. The proposed approach is compared to methods proposed by Loop and Zhang, Hartley, Mallon et al ... on data sets from state of art. It is shown that the results are at least equivalent on conventional images and better on low quality images such as infrared images. For the autocalibration, the author proposes to calibrate cameras and hand-eye transformation, essential whenever the stereoring is embeded on a robot, in one step. One of the originality is that this method allows to calibrate recti ed cameras and so minimize the number of parameters to estimate. Similarly, several criteria are proposed and evaluated by numerous results on synthetic and real data. Finally, all methods of stereovision tested for this application context are brie y described, the experimental results obtained on objects are presented and compared to ground truth.
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Benoit Ducarouge. Reconstruction 3D infrarouge par perception active. Informatique et langage [cs.CL]. INSA de Toulouse, 2011. Français. ⟨NNT : 2011ISAT0042⟩. ⟨tel-00681977⟩

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