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Theses

Alignement d'objets mécaniques complexes par vision monoculaire

Abstract : This thesis presents a visual registration system suitable for mechanical objects. The aim of this work is to perform an accurate and automatic estimation of the 3D position and orientation of a known object, from a single camera image. The studied objects are complex, generally metallic and textureless. To solve this problem, we introduce an object model which characterizes both the visual aspect and the 3D geometry of the object. This model is generated through a completely automatic learning process which exploits a small set of images of the object, registered with its CAD model. To estimate the object position and orientation, we propose a two-step matching process which exploits both visual and geometric data of the object model. The first step is based on a new local contour descriptor which characterizes exclusively the visual aspect of the object. We show that such a process is generally insufficient when applied to complex mechanical objects. Most of the time, the presence of repetitive patterns (bore series, ...) generates such a large amount of false matches that a pose computation becomes computationally prohibitive. We suggest completing the matching process by a step of false matches filtering based on the knowledge of the 3D geometry. This process is based on a special feature which allows a pose computation from a single match. Experimental evaluations show that this filtering reduces the false match rate enough to envisage a pose computation. A pose estimation process is then explained. Finally, an experimental evaluation of the complete visual registration process is exposed. This evaluation was lead on industrial mechanical objects (a car door, an automotive cylinder-head,...). The results underline the accuracy and the robustness of the proposed solution.
Mots-clés : vision par ordinateur
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Steve Bourgeois. Alignement d'objets mécaniques complexes par vision monoculaire. Optique / photonique. Université Blaise Pascal - Clermont-Ferrand II, 2006. Français. ⟨NNT : 2006CLF21697⟩. ⟨tel-00717568⟩

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