Evitement d'obstacles par invariants visuels

Amaury Nègre 1
1 E-MOTION - Geometry and Probability for Motion and Action
Inria Grenoble - Rhône-Alpes, LIG - Laboratoire d'Informatique de Grenoble
Abstract : In the context of visual navigation in an open and dynamic environment, obstacle detection play a major role. In this thesis, we are interested in the characterization of obstacles by the Time To Collision (TTC). We showed that this TTC can be computed directly in an image by using the characteristic scale. Next, we developed a detector and a tracker invariant to change of scale and well adapted to urban environments. This detector can extract regions of interest called “ridge segments” corresponding to contrasted and elongated shapes in the image. The tracking of such structures is based on a particles filter and allows the calculation of the scale in order to estimate the TTC. At last, we studied two applications for visual navigation such as automatic stopping of vehicle and a Bayesian reactive obstacles avoidance system.
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Submitted on : Friday, March 27, 2009 - 10:33:26 AM
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  • HAL Id : tel-00371261, version 1

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Amaury Nègre. Evitement d'obstacles par invariants visuels. Automatique / Robotique. Institut National Polytechnique de Grenoble - INPG, 2009. Français. ⟨tel-00371261⟩

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