Vision stéréoscopique et propriétés différentielles des surfaces

Frédéric Devernay 1
1 ROBOTVIS - Computer Vision and Robotics
CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : This dissertation deals with several aspects of stereoscopic computer vision, which consists of reconstructing a scene observed from several cameras in 3-D, i.e. to build a description of the observed objetcs ans surfaces, and their position in 3-D space. The rst problem we introduce is the camera calibration problem, where the goal is to compute the camera parameters (focal length, optical center, etc.) and their position, either from images of a calibration object or automatically (the last case is the so-called self-calibration problem). We present new results on self-calibration of optical distortion and on self-calibration of a rigid stereo rig from several pairs of images. Then we discuss on image rectication, which simplies a lot the stereo matching problem, and on stereoscopy by correlation, which performs the pointwise image matching. We got very good results using some classical methods, and we also developped new methods which give a better accuracy. The last step of stereoscopic vision, called the reconstruction, gives a 3-D description of a surface and its dierential properties up to order 2 from the results of the correlation methods. Finally, we show a few applications, like a system for fusing stereo images with volumetric medical images, and a DIY stereo camera
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Frédéric Devernay. Vision stéréoscopique et propriétés différentielles des surfaces. Interface homme-machine [cs.HC]. Ecole Polytechnique X, 1997. Français. ⟨tel-00005629⟩

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