Détection et localisation tridimensionnelle par stéréovision d’objets en mouvement dans des environnements complexes : application aux passages à niveau

Abstract : Within the past years, railways undertakings became interested in the assessment of Level Crossings (LC) safety. We propose in this thesis an Automatic Video-Surveillance system (AVS) at LC for an automatic detection of specific events. The system allows automatically detecting and 3D localizing the presence of one or more obstacles which are motionless at the level crossing. Our research aims at developing an AVS using the passive stereo vision principles. The proposed imaging system uses two cameras to detect and localize any kind of object lying on a railway level crossing. The cameras are placed so that the dangerous zones are well (fully) monitored. The system supervises and estimates automatically the critical situations by detecting objects in the hazardous zone defined as the crossing zone of a railway line by a road or path. The AVS system is used to monitor dynamic scenes where interactions take place among objects of interest (people or vehicles). After a classical image grabbing and digitizing step, the processing is composed of the two following modules: moving and stationary objects detection and 3-D localization. The developed stereo matching algorithm stems from an inference principle based on belief propagation and energy minimization. It takes into account the advantages of local methods for reducing the complexity of the inference step achieved by the belief propagation technique which leads to an improvement in the quality of results. The motion detection module is considered as a constraint which allows improving and speeding up the 3D localization algorithm.
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Nizar Fakhfakh. Détection et localisation tridimensionnelle par stéréovision d’objets en mouvement dans des environnements complexes : application aux passages à niveau. Autre. Ecole Centrale de Lille, 2011. Français. ⟨NNT : 2011ECLI0005⟩. ⟨tel-00618031v2⟩

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