Système de vision hybride à fovéation pour la vidéo-surveillance et la navigation robotique

Abstract : The primary goal of this thesis is to elaborate a binocular vision system using two different types of camera. The system studied here is composed of one omnidirectional camera coupled with a PTZ camera. This heterogeneous association of cameras having different characteristics is called a hybrid stereo-vision system. The couple composed of these two cameras combines the advantages given by both of them, that is to say a large field of view and an accurate vision of a particular Region of interest with an adjustable level of details using the zoom. In this thesis, we are presenting multiple contributions in visual tracking using omnidirectional sensors, PTZ camera self calibration, hybrid vision system calibration and structure from motion using a hybrid stereo-vision system.
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François Rameau. Système de vision hybride à fovéation pour la vidéo-surveillance et la navigation robotique. Traitement du signal et de l'image [eess.SP]. Université de Bourgogne, 2014. Français. ⟨NNT : 2014DIJOS031⟩. ⟨tel-01128289⟩

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