The result of the diploma thesis is a photogrammetrically evaluated georeferenced 3D model of an object with its environment, located in the AdMaS complex. The work describes in detail all phases of creating a 3D model of the object from the selection and calibration of the camera to editing the 3D model. Discuss about software and methods for evaluating 3D models. The thesis deals with the optimal setting of ContectCapture software. The accuracy of the resulting 3D model is tested by the methodology according to ČSN 013410 on the basis of control measurements.

Cette thèse porte sur la catégorisation d'objets vidéo. L'objectif est d'associer des étiquettes sémantiques à des objets 2D présents dans les images/vidéos. L'approche proposée consiste à exploiter des bases d'objets 3D classifiés afin d'identifier des objets 2D inconnus. Nous proposons un schéma de reconnaissance d'objet, conçu pour fonctionner pour des applications en temps réel. La similitude entre des modèles 3D et des contenus 2D inconnu est évaluée à l'aide de la description 2D/3D. Une procédure de vote est ensuite utilisée afin de déterminer les catégories les plus probables de l'objet 2D. Nous proposons aussi une stratégie pour la sélection des vues les plus représentatives d'un objet 3D et un nouveau descripteur de contour (nommé AH). L'évaluation expérimentale a montré que, en employant la sélection intelligente de vues, le nombre de projections peut être diminué de manière significative (jusqu'à 5 fois) tout en obtenant des performances similaires. Les résultats ont également montré la supériorité de l'AH par rapport aux autres descripteurs adoptés. Une évaluation objective de la variabilité intra et inter classe des bases de données 3D impliqués dans ce travail est également proposé, ainsi qu'une étude comparative des approches d'indexations retenues. Une approche de segmentation interactive est également introduite. La méthode proposée est spécifiquement conçu pour surmonter les artefacts de compression tels que ceux mis en place par la compression JPEG. Enfin, nous présentons une plate-forme Web pour l'indexation/la recherche/la classification, qui intègre les différentes méthodologies utilisées dans cette thèse / This Ph.D. thesis tackles the issue of sill and video object categorization. The objective is to associate semantic labels to 2D objects present in natural images/videos. The principle of the proposed approach consists of exploiting categorized 3D model repositories in order to identify unknown 2D objects based on 2D/3D matching techniques. We propose here an object recognition framework, designed to work for real time applications. The similarity between classified 3D models and unknown 2D content is evaluated with the help of the 2D/3D description. A voting procedure is further employed in order to determine the most probable categories of the 2D object. A representative viewing angle selection strategy and a new contour based descriptor (so-called AH), are proposed. The experimental evaluation proved that, by employing the intelligent selection of views, the number of projections can be decreased significantly (up to 5 times) while obtaining similar performance. The results have also shown the superiority of AH with respect to other state of the art descriptors. An objective evaluation of the intra and inter class variability of the 3D model repositories involved in this work is also proposed, together with a comparative study of the retained indexing approaches . An interactive, scribble-based segmentation approach is also introduced. The proposed method is specifically designed to overcome compression artefacts such as those introduced by JPEG compression. We finally present an indexing/retrieval/classification Web platform, so-called Diana, which integrates the various methodologies employed in this thesis

Much research effort has been devoted to producing algorithms that contribute directly or indirectly to the extraction of 3D information from a wide variety of types of scenes and conditions of image capture. The research work presented in this thesis is aimed at three distinct applications in this area: interactively extracting 3D points from a pair of uncalibrated images in a flexible way; finding corresponding points automatically in high resolution images, particularly those of archaeological scenes captured from a freely moving light aircraft; and improving a correlation approach to dense disparity mapping leading to 3D surface reconstructions. The fundamental concepts required to describe the principles of stereo vision, the camera models, and the epipolar geometry described by the fundamental matrix are introduced, followed by a detailed literature review of existing methods. An interactive system for viewing a scene via a monochrome or colour anaglyph is presented which allows the user to choose the level of compromise between amount of colour and ghosting perceived by controlling colour saturation, and to choose the depth plane of interest. An improved method of extracting 3D coordinates from disparity values when there is significant error is presented. Interactive methods, while very flexible, require significant effort from the user finding and fusing corresponding points and the thesis continues by presenting several variants of existing scale invariant feature transform methods to automatically find correspondences in uncalibrated high resolution aerial images with improved speed and memory requirements. In addition, a contribution to estimating lens distortion correction by a Levenberg Marquard based method is presented; generating data strings for straight lines which are essential input for estimating lens distortion correction. The remainder of the thesis presents correlation based methods for generating dense disparity maps based on single and multiple image rectifications using sets of automatically found correspondences and demonstrates improvements obtained using the latter method. Some example views of point clouds for 3D surfaces produced from pairs of uncalibrated images using the methods presented in the thesis are included.

[pt] Visualizações 2D e 3D podem ser válidas para diferentes finalidades. Visualizações 2D podem diminuir a oclusão de partes específicas, mostrar ângulos e distâncias sem distorções e permitir posicionamento e navegação mais precisas. Já as visualizações 3D podem prover uma visão geral do espaço, ilustrar formas, oferecer noções de tamanho e distância e suportar navegação livre, além de permitir ao usuário compreender como é aquele lugar na realidade ou rapidamente reconhecê- lo quando já o conhece fisicamente. Apesar das vantagens do ambiente 3D, ainda nos deparamos com alguns desafios neste ambiente, como a oclusão de objetos, que, em um ambiente de monitoramento em tempo real, pode trazer alguns perigos. O objetivo principal desta pesquisa é proporcionar um ambiente que apóie um cenário de monitoramento de plantas industriais, explorando técnicas de visualização da informação e dados científicos, integrados em um ambiente que mescla 2D e 3D e determinando como informações importantes serão mostradas para chamar a atenção do usuário através de alertas sobre situações de risco. Atualmente, este monitoramento é realizado sobre uma planta 2D e alguns fatores motivaram a migração deste tipo de visualização para o 3D, como a facilidade na percepção do mapeamento para a visão real, comunicação entre diferentes equipes que não conhecem a planta e a intenção de futuramente tornar o sistema de operação uma parte integrada de outras áreas de atuação que já utilizam ambientes 3D. Desta forma, este trabalho tem como principal questão de pesquisa investigar meios de combinar tais técnicas, propondo formas de lidar com a oclusão, as dificuldades da navegação no ambiente 3D e diferentes formas de chamar a atenção do usuário, considerando tanto os eventos que estão em seu campo de visão quanto àqueles que estão fora do seu campo de visão. / [en] 3D Visualization can be valid for different purposes. 2D visualizations can decrease the occlusion in specific parts, show undistorted angles and distances and enable precise positioning and navigation. Already the 3D visualization can provide an overview of the space, illustrate shapes of objects, offering precise notions of size and distance and support free navigation, and allows the user to understand how this place is in reality or quickly recognize it when the place is already known physically. Despite the advantages of the 3D environment, we are still encountering some challenges in this environment, such as the occlusion of objects, which, in an environment of real-time monitoring, can bring some dangers. The main objective of this research is to provide an environment that supports a scenario of industrial plants monitoring in real time, exploring techniques of information visualization and scientific data in an integrated environment that mixes 2D and 3D visualizations, determining how important information will be displayed to call the user’s attention through warnings about risky situations. Currently, this monitoring is made on a 2D space plant and some factors motivated the migration of this type of visualization for the 3D environment, such as ease the perception of the mapping to the action vision, communication between different teams who do not know the plant and the intention of, in the future, make the operation system an integrated part of other areas of expertise that already use this 3D environment. Thus, this study’s main research question is to investigate ways of combining these techniques and propose ways to handle the occlusion, the difficulties of navigation in the 3D environment and different ways to draw the user’s attention, considering both the events that are in his field of vision as those who are outside of his field of view (due to the possibility of free navigation).

A Recuperação de Imagens Baseada em Conteúdo (Content-Based Image Retrieval - CBIR) visa recuperar, em uma base de imagens, as ocorrências mais similares a uma imagem fornecida como modelo, a partir de características extraídas desses objetos. O uso dos conceitos de CBIR, embora bem explorado para recuperação de imagens bidimensionais, ainda é pouco explorado no domínio de objetos tridimensionais. A partir da identificação de lacunas na literatura a respeito da abordagem eficiente para recuperação destes objetos, o objetivo deste estudo foi definir, implementar e validar técnicas de recuperação destes objetos médicos tridimensionais com base no seu conteúdo considerando buscas globais e regionalizadas da estrutura tridimensional. Para atingir tal objetivo foram realizadas as seguintes atividades: revisão bibliográfica, definição da base de dados, implementação de descritores e métodos de comparação por similaridade, construção de um protótipo de sistema de recuperação, realização de testes com objetos médicos tridimensionais e análise dos resultados. Os resultados obtidos com os métodos desenvolvidos foram positivos, alcançando 90% de média de precisão no retorno da busca. Verificou-se que os descritores baseados em Harmônicos Esféricos podem ser adaptados para serem utilizados como descritores locais. Adicionalmente, verificou-se que a abordagem utilizando grafos bipartidos em conjunto com o cálculo de similaridade por meio de uma rede de fluxo, produziu resultados melhores do que os métodos que utilizaram abordagens clássicas de comparação. Em relação ao estudo de caso analisado, as Cardiomiopatias, foi possível constatar que as informações de idade e gênero contribuem para melhorar a precisão da recuperação, uma vez que essas informações podem influenciar diretamente a estrutura do ventrículo esquerdo. Além disso, em uma avaliação com usuários finais da área de Cardiologia, constatou-se que efetivamente esta abordagem pode auxiliar na composição de diagnósticos. Estes resultados confirmaram o potencial que a recuperação por conteúdo possui no contexto médico, além de contribuir com a área de Computação no sentido de ter desenvolvido técnicas para recuperação por conteúdo no domínio de objetos tridimensionais. / Content-Based Image Retrieval - CBIR aims to retrieval, in an image database, the most similar occurrences to an image provided as a query, from extracted characteristics of these objects. The use of CBIR concept, although exploited for recovery of twodimensional images, is still under explored in the three-dimensional objects knowledge field. Based on the identification of the current literature gaps regarding efficient approaches to retrieval these objects, the objective of this study was to define, implement and validate retrieval techniques of three-dimensional medical objects based on their content considering global and regionalized searches of the three-dimensional structure. In order to achieve this objective, the following activities were carried out: literature review, database definition, implementation of descriptors and methods of comparison by similarity, construction of a retrieval system prototype, tests with three-dimensional medical objects and results analysis. The results obtained with the methods developed were positive, reaching 90% of mean precision in the return of the search. It has been found that the descriptors based on Spherical Harmonics can be adapted to be used as local descriptors. Additionally, it was identified that the approach using bipartite graphs in conjunction with the similarity computation through network flow, produced better results than the methods that used classic approaches of comparison. Regarding the case study analyzed, the Cardiomyopathies, it was possible to verify that the information of age and gender contribute to improve the accuracy of the retrieval, since this information can directly influence the structure of the left ventricle. In addition, in an evaluation with end users of Cardiology area, it was verified that this approach can effectively aid in the diagnoses. These results confirmed the potential that content-based retrieval has in the medical context, as well as contribute to the Computing area in the sense of developing techniques for content-based in three-dimensional retrieval.

<p>A new approach for object replacement in 3D space is presented. Introducing a technique that replaces the older two dimensional (2D) based facial replacement method performed by compositing artist in motion picture productions and video commercial industry.</p><p>This method uses 4 digital video cameras filming an actor from 360 degrees, the cameras are placed with 90 degrees in between, the video footage acquired is then used to produce a 3D video texture consisting of video segments taken from different angles representing the object from 3D point of view.</p><p>The video texture is then applied to a 3D modelled head matching the geometry of the original object.</p><p>Offering the freedom of showing the object from any point of view from 3D space, which is not possible using the current two dimensional method where the actormust at all time face the camera.</p><p>The method is described in details with images showing every stage of the process.</p><p>Results are presented as still frames taken from the final video footage and as a video file demonstrating them.</p>

En aplicaciones de captura robotizada se ha hecho necesario el uso de información tridimensional de los objetos que son manipulados. Esta información puede obtenerse mediante dispositivos de adquisición 3D, tales como escáneres láser o cámaras de tiempo de vuelo, que proporcionan imágenes de rango de los objetos. En este trabajo de tesis se presenta un nuevo enfoque para encontrar, sin disponer de una estimación previa, la transformación rígida que produzca una alineación adecuada de las nubes de puntos obtenidas con esos dispositivos. El algoritmo realiza una búsqueda iterativa de correspondencias mediante la comparación de descriptores 2D en varios niveles de resolución utilizando para ello una medida de similitud específicamente diseñada para el descriptor propuesto en esta tesis. Este algoritmo de alineamiento se puede utilizar tanto para modelado 3D como para aplicaciones de manipulación de objetos en situaciones en las que los objetos estén parcialmente ocluidos o presenten simetrías. / In applications of robotic manipulation of objects, the use of three-dimensional information of objects being manipulated has been made necessary. This information can be obtained by 3D acquisition devices, such as laser scanners or cameras of flight time, providing range images of objects. This thesis presents a new approach to find, without having a previous estimate, the Euclidean transformation that produces a proper alignment of point clouds obtained with these devices. The algorithm performs an iterative search for correspondences by comparing 2D descriptors at various levels of resolution using a similarity measure specifically designed for the descriptor proposed in this thesis. This alignment algorithm can be used for both 3D modelling and robotic manipulation applications when objects are partially occluded or have symmetries.

Orchards demand large areas of land, thus they are often situated far from major population centres. As a result it is often difficult to obtain the necessary personnel, limiting both growth and productivity. However, if autonomous robots could be integrated into the operation of the orchard, the manpower demand could be reduced. A key problem for any autonomous robot is localisation; how does the robot know where it is? In agriculture robots, the most common approach is to use GPS positioning. However, in an orchard environment, the dense and tall vegetation restricts the usage to large robots that reach above the surroundings. In order to enable the use of smaller robots, it is instead necessary to use a GPS independent system. However, due to the similarity of the environment and the lack of strong recognisable features, it appears unlikely that typical non-GPS solutions will prove successful. Therefore we present a GPS independent localisation system, specifically aimed for orchards, that utilises the inherent structure of the surroundings. Furthermore, we examine and individually evaluate three related sub-problems. The proposed system utilises a 3D point cloud created from a 2D LIDAR and the robot’s movement. First, we show how the data can be segmented into individual trees using a Hidden Semi-Markov Model. Second, we introduce a set of descriptors for describing the geometric characteristics of the individual trees. Third, we present a robust localisation method based on Hidden Markov Models. Finally, we propose a method for detecting segmentation errors when associating new tree measurements with previously measured trees. Evaluation shows that the proposed segmentation method is accurate and yields very few segmentation errors. Furthermore, the introduced descriptors are determined to be consistent and informative enough to allow localisation. Third, we show that the presented localisation method is robust both to noise and segmentation errors. Finally it is shown that a significant majority of all segmentation errors can be detected without falsely labeling correct segmentations as incorrect. / Eftersom fruktodlingar kräver stora markområden är de ofta belägna långt från större befolkningscentra. Detta gör det svårt att finna tillräckligt med arbetskraft och begränsar expansionsmöjligheterna. Genom att integrera autonoma robotar i drivandet av odlingarna skulle arbetet kunna effektiviseras och behovet av arbetskraft minska. Ett nyckelproblem för alla autonoma robotar är lokalisering; hur vet roboten var den är? I jordbruksrobotar är standardlösningen att använda GPS-positionering. Detta är dock problematiskt i fruktodlingar, då den höga och täta vegetationen begränsar användandet till större robotar som når ovanför omgivningen. För att möjliggöra användandet av mindre robotar är det istället nödvändigt att använda ett GPS-oberoende lokaliseringssystem. Detta problematiseras dock av den likartade omgivningen och bristen på distinkta riktpunkter, varför det framstår som osannolikt att existerande standardlösningar kommer fungera i denna omgivning. Därför presenterar vi ett GPS-oberoende lokaliseringssystem, speciellt riktat mot fruktodlingar, som utnyttjar den naturliga strukturen hos omgivningen.Därutöver undersöker vi och utvärderar tre relaterade delproblem. Det föreslagna systemet använder ett 3D-punktmoln skapat av en 2D-LIDAR och robotens rörelse. Först visas hur en dold semi-markovmodell kan användas för att segmentera datasetet i enskilda träd. Därefter introducerar vi ett antal deskriptorer för att beskriva trädens geometriska form. Vi visar därefter hur detta kan kombineras med en dold markovmodell för att skapa ett robust lokaliseringssystem.Slutligen föreslår vi en metod för att detektera segmenteringsfel när nya mätningar av träd associeras med tidigare uppmätta träd. De föreslagna metoderna utvärderas individuellt och visar på goda resultat. Den föreslagna segmenteringsmetoden visas vara noggrann och ge upphov till få segmenteringsfel. Därutöver visas att de introducerade deskriptorerna är tillräckligt konsistenta och informativa för att möjliggöra lokalisering. Ytterligare visas att den presenterade lokaliseringsmetoden är robust både mot brus och segmenteringsfel. Slutligen visas att en signifikant majoritet av alla segmenteringsfel kan detekteras utan att felaktigt beteckna korrekta segmenteringar som inkorrekta.

La miniaturització de la industria microelectrònica és un fet del tot inqüestionables i la tecnologia CMOS no n'és una excepció. En conseqüència la comunitat científica s'ha plantejat dos grans reptes: En primer lloc portar la tecnologia CMOS el més lluny possible ('Beyond CMOS') tot desenvolupant sistemes d'altes prestacions com microprocessadors, micro - nanosistemes o bé sistemes de píxels. I en segon lloc encetar una nova generació electrònica basada en tecnologies totalment diferents dins l'àmbit de les Nanotecnologies. Tots aquests avanços exigeixen una recerca i innovació constant en la resta d'àrees complementaries com són les d'encapsulat. L'encapsulat ha de satisfer bàsicament tres funcions: Interfície elèctrica del sistema amb l'exterior, Proporcionar un suport mecànic al sistema i Proporcionar un camí de dissipació de calor. Per tant, si tenim en compte que la majoria d'aquests dispositius d'altes prestacions demanden un alt nombre d'entrades i sortides, els mòduls multixip (MCMs) i la tecnologia flip chip es presenten com una solució molt interessant per aquests tipus de dispositiu. L'objectiu d'aquesta tesi és la de desenvolupar una tecnologia de mòduls multixip basada en interconnexions flip chip per a la integració de detectors de píxels híbrids, que inclou: 1) El desenvolupament d'una tecnologia de bumping basada en bumps de soldadura Sn/Ag eutèctics dipositats per electrodeposició amb un pitch de 50µm, i 2) El desenvolupament d'una tecnologia de vies d'or en silici que permet interconnectar i apilar xips verticalment (3D packaging) amb un pitch de 100µm. Finalment aquesta alta capacitat d'interconnexió dels encapsulats flip chip ha permès que sistemes de píxels tradicionalment monolítics puguin evolucionar cap a sistemes híbrids més compactes i complexes, i que en aquesta tesi s'ha vist reflectit transferint la tecnologia desenvolupada al camp de la física d'altes energies, en concret implantant el sistema de bump bonding d'un mamògraf digital. Addicionalment s'ha implantat també un dispositiu detector híbrid modular per a la reconstrucció d'imatges 3D en temps real, que ha donat lloc a una patent. / The scaling down of microelectronic's industry is a fact completely unquestionable and the technology CMOS is not an exception. Consequently, the scientific community has considered two great challenges: In first place to bring the technology CMOS the most far away possible ('Beyond CMOS') while developing advanced systems such as microprocessors, micro - nanosystems or pixel systems. On the other hand to begin a new electronic generation based on technologies totally different inside the Nanotechnologies area.All these advances require a research and constant innovation in the rest of complementary areas such as Packaging. Any packaging system has to satisfy three functions in a basic way: Electrical interface of the system with the exterior, to provide a mechanical support to the system and to provide a way of heat dissipation. In order to satisfy the requirements of advanced systems with high number of I/Os, the multichip modules (MCMs) and the flip chip technology are presented as a very interesting solution.The goal of this thesis consist of developing a multichip module technology based on flip chip interconnections for the integration of hybrid pixel detectors, which includes: 1) The development of a bumping technology based on electrodeposited Sn/Ag eutectic solder bumps with a pitch of 50µm, and 2) The development of a technology of gold vias in silicon that allows to interconnect and to stack chips vertically (3D packaging) with a pitch of 100µm.Finally this high capacity of flip chip interconnection has allowed that traditional monolithic pixel systems can evolve towards hybrid systems more compact and complex, and that in this thesis has been reflected transferring the technology developed in the field of the high energies physics, implanting the bump bonding system of a digital mammography system in particular. Additionally also a modular hybrid detecting device (CMOS Image Sensor) has been implanted for the reconstruction of 3D images in real time, which has caused a patent.

Esta tese objetiva propor algorítmos para a redução do tamanho dos fios em circuitos VLSI considerando elementos críticos dos circuitos. O problema é abordado em duas perspectivas diferentes: posicionamento e roteamento. Na abordagem de posicionamento, a tese explora métodos para realizar posicionamento de um tipo particular de circuito VLSI, que são conhecidos como circuitos 3D. Diferente de trabalhos anteriores, este tese aborda o problema considerando as conexões verticais (chamadas 3D-Vias) e as limitações impostas pelas mesmas. Foi realizado um fluxo completo, iniciando no tratamento de pinos de entrada e saída (E/S), posicionamento global, posicionamento detalhado e posicionamento das 3D-Vias. A primeira etapa espalha os pinos de E/S de maneira equilibrada objetivando auxiliar o posicionamento para obter uma quantidade reduzida de 3D-Vias. O mecanismo de posicionamento global baseado no algorítmo de Quadratic Placement considera informações da tecnologia e requerimento de espaçamento de 3D-Vias para reduzir o comprimento das conexões e equilibrar a distrubuição das células em 3D. Conexes críticas podem ser tratadas através da insercão de redes artificiais que auxiliam a evitar que 3D-Vias sejam usadas em conexões críticas do circuito. Finalmente, 3D-Vias são posicionadas por um algorítmo rápido baseado na legalizaçãao Tetris. O framework completo reforça os potenciais benefícios dos circuitos 3D para a melhora do comprimento das conexões e apresenta algorítmos eficientes projetados para circutos 3D podendo estes serem incorporados em novas ferramentas. Na abordagem de roteamento, um novo algorítmo para obtenção de árvores de Steiner chamado AMAZE é proposto, combinando métodos existentes com novos métodos que são efetivos para produzir fios curtos e de baixo atraso para elementos críticos. Um técnica de biasing atua na redução do tamanho dos fios, obtendo resultados próximos da solução ótima enquanto que dois fatores de timing chamados path-length factor e sharing factor propiciam melhora do atraso para conexões sabidas como críticas. Enquanto que AMAZE apresenta melhorias significativas em um algorítmo padrão na indústria de CAD (Maze Routers), ele produz árvores de roteamento com uso de CPU comparável com algorítmos heurísticos de árvore de Steiner e menor atraso. / This thesis targets the wire length improvement of VLSI circuits considering critical elements of a circuit. It considers the problem from two different perspectives: placement and routing. On placement, it explores methods to perform placement of 3D circuits considering issues related to vertical interconnects (3D-Vias). A complete flow, starting from the I/O pins handling, global placement, detailed placement and 3D-Via placement is presented. The I/O pins algorithm spreads the I/Os evenly and aids the placer to obtain a reduced number of 3D-Vias. The global placement engine based on Quadratic algorithm considers the technology information and 3D-Via pitch to reduce wire length and balance the cells distribution on 3D. Critical connections can be handled by insertion of artificial nets that lead to 3D-Via avoidance for those nets. Finally, 3D-Vias are placed by a fast algorithm based on Tetris legalization. The whole framework enforces the potential benefits of 3DCircuits on wire length improvement and demonstrates efficient algorithms designed for 3D placement that can be incorporated in new tools. On routing, a new flexible Steiner tree algorithm called AMAZE is proposed, combining existing and new methods that are very effective to produce short wire length and low delay to critical elements. A biasing technique provides close to optimal wire lengths while a path length factor and a sharing factor enables a very wide delay and wire length trade-off. While AMAZE presents significant improvements on a industry standard routing algorithm (Maze Routers), it produces routing trees with comparable speed and beter delay than heuristic Steiner tree algorithms such as AHHK and P-Trees.