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Architectures pour la stéréovision passive dense temps réel : application à la stéréo-endoscopie

Abstract : The emergence of medical robotics in laparoscopic surgery intended to automate and to improve the precision of the interventions requires the application of tools and intelligent miniaturized sensors to which real-time 3D vision belongs. Although the current 3D vision systems represent certain interest for precise laparoscopic surgical manipulations, they have the inconvenience to give a qualitative 3D image rather than quantitative, which requires specific equipment making the surgical act uncomfortable and prevents the coupling with a computer in the computer aided surgery. We have developed in the internal project PICASSO (Platform of Integration of CAMERAS multiSenOrielles) the scientific interests in which concern the adaptation of integrated sensors, the treatment and the fusion of multi spectral images and a 3D vision device compatible with the execution times of the surgical acts. This system is based on the principle of the human stereoscopy and implements passive dense stereovision algorithms. In this thesis we present massively parallel architectures, implemented in FPGA circuit, and able to supply disparity images at the cadence of 130 trams per second for image resolution of 640x480 pixels. The adopted algorithm is based on the Census correlation with a calculation window of 7x7 pixels. This one was chosen as the performances compared to its simplicity of application and the parallelism possibility. The main objective of this algorithm is to look for, for every point, the correspondence between two images of right and left taken by two different angles of sight to obtain a "disparities map" from which it is possible to reconstruct the 3D scene. To implement this algorithm and hold the "real-time" constraints we've developed architectures in "pipeline" (calculation of means, Census transformation, searching stereo-corresponding points, check right-left, filtering). The architecture steps are described essentially in VHDL language. Finally we are interest ing in the consumption in terms of FPGA resources (memories, macro-cells) according to the wished performances.
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Contributor : Emilie Marchand <>
Submitted on : Thursday, October 26, 2006 - 2:27:39 PM
Last modification on : Thursday, June 10, 2021 - 3:05:18 AM
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  • HAL Id : tel-00110093, version 1


Abdelelah Naoulou. Architectures pour la stéréovision passive dense temps réel : application à la stéréo-endoscopie. Micro et nanotechnologies/Microélectronique. Université Paul Sabatier - Toulouse III, 2006. Français. ⟨tel-00110093⟩



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