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Reconstruction 3D et production de carte dense de disparité en stéréovision non-alignée pour des applications industrielles de localisation 3D et d'analyse de surface

Abstract : In industrial vision, many applications for measuring and quality control are moving to three-dimensional problems. Stereovision systems are technological solutions that attract industry by their mechanical simplicity. Two static cameras placed at strategic locations may be sufficient to address this problem although the industrial constraints imposed to respect a short processing time and precise measurements. The diversity of applications lead us to consider two approaches to resolve the two types of application. The first technique consists in the 3D reconstruction from pairs of image points which correspond in both images. It is intended to address the problem of 3D measurement. The methods of monocular calibration and 3D triangulation are the basis of 3D reconstruction. We study the accuracy and its evolution according to the capture system pose compared to the observed scene. The second technique is to construct disparity maps to address problems of building profile and default analysis. The alignment constraint of cameras needed to accelerate the process of matching involves the use of methods of stereoscopic calibration and image rectification. We study the impact of alignment on the quality of the rectification. The production of dense disparity map is based on the stereo-correlation techniques. We show the limits of the use of a squared correlation kernel and propose an alternative production of two dense disparity maps from two mono-directional kernels, improving the measurement of disparity around edges and occlusions.
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  • HAL Id : tel-01821171, version 1

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Jimmy Pelcat. Reconstruction 3D et production de carte dense de disparité en stéréovision non-alignée pour des applications industrielles de localisation 3D et d'analyse de surface. Vision par ordinateur et reconnaissance de formes [cs.CV]. INSA de Rouen, 2012. Français. ⟨NNT : 2012ISAM0025⟩. ⟨tel-01821171⟩

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