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Suivi automatique d'objets 3D basé sur l'apparence dans des séquences d'images

Abstract : This thesis is concerned with the computer vision. More precisely, we are interested in the video real time tracking of 3D objects in video sequences, using only object appearances. An algorithm, developed earlier, allows to track textured planar patterns. It constitutes the core of our approach. We propose to adapt this 2D tracking method to the estimation of the 3D objects movement. For that, the 3D object is represented by a collection of reference images. For each one of these views, the 2D solution, quoted previously, allows to track fronto parallel movements (movement of the object in a plane parallel to the image plane). The aspect of the pattern representing the tracked object is not really modified by this motion. The delicate point, solved during this thesis, is the detection and the management of appearance changes of the tracked pattern due to relative rotations (between camera and object) in roll and pitch. In practice, the suggested approach allowed us the development of an experimental system dedicated to the tracking of human faces and the automatic navigation of a robotic arm, with a camera on its effector, around a 3D object.
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Contributor : Florent Duculty <>
Submitted on : Saturday, July 23, 2011 - 8:54:01 PM
Last modification on : Thursday, March 5, 2020 - 6:48:56 PM
Long-term archiving on: : Friday, November 4, 2011 - 3:20:09 PM


  • HAL Id : tel-00610720, version 1


Florent Duculty. Suivi automatique d'objets 3D basé sur l'apparence dans des séquences d'images. Sciences de l'ingénieur [physics]. Université Blaise Pascal - Clermont-Ferrand II, 2003. Français. ⟨tel-00610720⟩



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