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Modélisation de formes 3D par les graphes pour leur reconnaissance : application à la vision 3D en robotique dans des tâches de "Pick-and-Place"

Abstract : The aim of this thesis is to design an automatic system involving one or several cameras capable of detecting in three dimensions a set of abjects placed in a bin. To do this, we must model, recognize and locate shapes in an image. First, we propose a solution to optimize the camera calibration system. This is an essential task for the retrieval of quantitative information about the captured images. However, the current methods require specific skills in image processing, which are not always available in industry. We propose to automate and optimize the calibration system by eliminating the selection of images by the operator. Second, we propose to improve the detection systems for thin and featureless abjects. Finally, we propose to adapt evolutionary algorithms to optimize search times.
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https://tel.archives-ouvertes.fr/tel-01735392
Contributor : Abes Star :  Contact
Submitted on : Thursday, March 15, 2018 - 6:36:08 PM
Last modification on : Saturday, October 27, 2018 - 1:24:01 AM
Long-term archiving on: : Tuesday, September 11, 2018 - 2:06:56 AM

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Willaume_Pierre_2017_ED269.pdf
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  • HAL Id : tel-01735392, version 1

Citation

Pierre Willaume. Modélisation de formes 3D par les graphes pour leur reconnaissance : application à la vision 3D en robotique dans des tâches de "Pick-and-Place". Vision par ordinateur et reconnaissance de formes [cs.CV]. Université de Strasbourg, 2017. Français. ⟨NNT : 2017STRAD041⟩. ⟨tel-01735392⟩

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