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Theses

Synthèse de vues à partir d'images de microscopes photoniques pour la micromanipulation.

Abstract : The combination of photon microscope and camera is used in the applications of micro-assembly. This essential instrument have five properties : a weak field of view, a low depth of field, a short working distance, a strong dependence to illumination and bulkiness. In that context of micro-assembly the vision system should be distributed and composed of complementary imagers are expensive and bulky. Therefore our approach consists in obtaining the essential views for the control of the station by the image based rendering. It decreases the number of photonic microscopes in the station. For that, we propose to used two techniques, the mosaicing and the trifocal transfer. First the vision system calibration is required, we present the stages of stereoscopic weak calibration for that context of photonic microscopy with improved new algorithms. Image mosaicing is a technique for the reconstruct a wide image of scene from a set of images that scene where each represents a small part of this scene. After new algorithms improving the construction of mosaic we use this technique for the supervision of micromanipulation station. Trifocal transfer is a technique based on stereoscopic weak calibration for the reconstruction of a virtual view from only two real without 3D explicit information. After an explanation on the theory and a new algorithm proposed we used this technique in a the visual servoing application, to control the position of a microgripper. The virtual view allowing control is obtain from the real view coming from a stereoscopic photonic microscope.
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Submitted on : Tuesday, December 11, 2007 - 3:55:02 PM
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Julien Bert. Synthèse de vues à partir d'images de microscopes photoniques pour la micromanipulation.. Automatique / Robotique. UFR des Sciences et Techniques de l'Université de Franche-Comté, 2007. Français. ⟨tel-00195867⟩

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