Skip to Main content Skip to Navigation
Theses

Reconstruction 3D et localisation simultanée de caméras mobiles : une approche temps-réel par ajustement de faisceaux local

Abstract : The Structure from Motion problem is an intense research topic in computer vision and has been the subject of much investigation. This thesis presents a method for estimating the motion of a calibrated camera and the threedimensional geometry of the filmed environment. The main idea is to take advantage of both offline methods (based on an optimization of all 3D parameters by global bundle adjustment) and fast incremental methods. The new approach may be seen as an acceleration of conventional 3D reconstruction techniques that make use of bundle adjustment, and thus enables to treat very long video sequences. The introduced algorithm may be summarized as follows : interest points detection and matching between frames, subsampling of the video into "key frames", full 3D reconstruction of these key frames (3D points and camera poses), and localization of all frames. The keystone of the method is the local bundle adjustment : reconstruction parameters are refined at the end of the sequence only, for all current frame selected as key frame. This method is applied initially to a perspective camera model, then extended to a generic camera model to describe most existing kinds of cameras like catadioptric cameras or stereo rigs. Experiments have shown that results are very similar to those obtained by methods with global optimisation, with much lower computing times. We can envisage applications like realtime visual odometry for mobile robots or car assisted driving.
Document type :
Theses
Complete list of metadatas

Cited literature [105 references]  Display  Hide  Download

https://tel.archives-ouvertes.fr/tel-00925661
Contributor : Camille Meyer <>
Submitted on : Wednesday, January 8, 2014 - 1:56:01 PM
Last modification on : Monday, February 10, 2020 - 6:12:33 PM
Long-term archiving on: : Saturday, April 8, 2017 - 12:56:18 PM

Identifiers

  • HAL Id : tel-00925661, version 1

Citation

Etienne Mouragnon. Reconstruction 3D et localisation simultanée de caméras mobiles : une approche temps-réel par ajustement de faisceaux local. Automatique / Robotique. Université Blaise Pascal - Clermont-Ferrand II, 2007. Français. ⟨NNT : 2007CLF21799⟩. ⟨tel-00925661⟩

Share

Metrics

Record views

1152

Files downloads

4980