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Stratégies de vision active pour la reconnaissance d'objets

Abstract : This PhD thesis, conducted in cooperation with ONERA, focuses on active 3D object recognition by an autonomous visual agent. Whereas in passive recognition, acquisition modalities of observations are fixed and may generate ambiguities, active recognition exploits the possibility of controling these modalities online in a sequential inference process in order to remove these ambiguities. The aim of this work is to design, in a statistical learning framework, planning strategies in the acquisition of information while achieving a realistic implementation of active recognition. The first part of the work is dedicated to learning to plan. Two realistic constraints are taken into account : on the one hand, planning with imperfect object modeling may generate further ambiguities - on the other hand, the learning cost (in time, energy) is expensive and therefore limited. The second part of this work focuses on maximally exploiting observations acquired during recognition. The possibility of an active multi-scale recognition is investigated to allow an interpretation as soon as the sequential acquisition process begins. Observations are also used to robustly estimate the pose of the object to ensure consistency between the planned and actual modality of the visual agent.
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Joseph Defretin. Stratégies de vision active pour la reconnaissance d'objets. Mathématiques générales [math.GM]. École normale supérieure de Cachan - ENS Cachan, 2011. Français. ⟨NNT : 2011DENS0047⟩. ⟨tel-00696044⟩

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