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Approche géométrique couleur pour le traitement des images catadioptriques

Abstract : This manuscript investigates omnidirectional catadioptric color images as Riemannian manifolds. This geometric representation offers insights into the resolution of problems related to the distortions introduced by the catadioptric system in the context of the color perception of autonomous systems. The report starts with an overview of the omnidirectional vision, the different used systems, and the geometric projection models. Then, we present the basic notions and tools of Riemannian geometry and its use in the image processing domain. This leads us to introduce some useful differential operators on Riemannian manifolds. We develop a method of constructing a hybrid metric tensor adapted to color catadioptric images. This tensor has the dual characteristic of depending on the geometric position of the image points and their photometric coordinates as well.In this work, we mostly deal with the exploitation of the previously constructed hybrid metric tensor in the catadioptric image processing. Indeed, it is recognized that the Gaussian function is at the core of several filters and operators for various applications, such as noise reduction, or the extraction of low-level characteristics from the Gaussian space- scale representation. We thus build a new Gaussian kernel dependent on the Riemannian metric tensor. It has the advantage of being applicable directly on the catadioptric image plane, also, variable in space and depending on the local image information. As a final part in this thesis, we discuss some possible robotic applications of the hybrid metric tensor. We propose to define the free space and distance transforms in the omni- image, then to extract geodesic medial axis. The latter is a relevant topological representation for autonomous navigation, that we use to define an optimal trajectory planning method.
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Submitted on : Thursday, December 12, 2019 - 1:03:26 AM
Last modification on : Tuesday, December 17, 2019 - 2:25:18 AM
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  • HAL Id : tel-02405997, version 1



Fatima Aziz. Approche géométrique couleur pour le traitement des images catadioptriques. Optique / photonique. Université de Limoges, 2018. Français. ⟨NNT : 2018LIMO0080⟩. ⟨tel-02405997⟩



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