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Asservissement visuel direct utilisant les décompositions en shearlets et en ondelettes de l'image

Lesley-Ann Duflot 1, 2
2 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE, CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique
Abstract : A visual servoing scheme consists of a closed-loop control approach which uses visual information feedback to control the movement of a robotic system. This data, called visual features, can be 2D or 3D. This thesis deals with the development of a new generation of 2D direct visual servoing methods in which the signal control inputs are the coefficients of a multiscale image representation. Specially, we consider the use of multiscale image representations that are based on discrete wavelet and shearlet transformations. This kind of representations allows us to obtain several descriptions of the image based on either low or high frequencies levels. Indeed, high coefficients in the wavelet or in the shearlet transformation of the image correspond to image singularities. This thesis has begun with the development of a shearlet-based visual servoing for ultrasound imaging that has performed well in precision and robustness for this medical application. Nevertheless, the main contribution is a framework allowing us to use several multi-scale representations of the image. It was then tested with conventional white light camera and with an optical coherence tomography imaging system with nominal and unfavorable conditions. Then, the wavelet and the shearlet based methods showed their accuracy and their robustness in several conditions and led to the use of both visual servoing and compressed sensing as the main perspective of this work.
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Submitted on : Friday, August 24, 2018 - 2:50:05 PM
Last modification on : Thursday, November 12, 2020 - 9:42:15 AM
Long-term archiving on: : Sunday, November 25, 2018 - 3:36:51 PM


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  • HAL Id : tel-01861464, version 1


Lesley-Ann Duflot. Asservissement visuel direct utilisant les décompositions en shearlets et en ondelettes de l'image. Traitement des images [eess.IV]. Rennes 1, 2018. Français. ⟨tel-01861464v1⟩



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