Beaucoup de tâches pratiques dans l'industrie, tels que l'inspection automatique ou la vision robotique, nécessitent souvent de numérisation de formes en trois dimensions (3D) avec des techniques non-contact. Toutefois, les objets transparents, tels que ceux en verre, posent encore des difficultés pour les techniques classiques de numérisation. La reconstruction de la géométrie de surface pour les objets transparents est compliquée par le fait que la lumière est transmise à travers, réfracté et dans certains cas, réfléchie par la surface. Les approches actuelles ne peut traiter que les sous-classes d'objets. Les algorithmes sont encore très spécifiques et ne sont généralement pas applicables. En outre, de nombreuses techniques exigent un effort considérable d'acquisition et de calibration. Cette thèse propose une nouvelle méthode de détermination de la forme de la surface des objets transparents. La méthode est basée sur le chauffage locale de la surface et sur l'imagerie thermique. Tout d'abord, la surface de l'objet est chauffé avec une source laser. Une image thermique est acquis, et les coordonnées en pixels du point d'échauffement sont calculés. Ensuite, les coordonnées 3D de la surface sont déterminées en utilisant triangulation et l'étalonnage initial du système. Le processus est répété en déplaçant l'objet transparent pour reprendre sa forme de surface complète. Cette méthode est appelée "Scanning From Heating". Considérant le faisceau laser comme une source de chauffage point et la surface de l'objet localement plane à la zone d'impact, la méthode est utilisée pour obtenir les normales de la surface de l'objet, en plus des coordonnées 3D. Un prototype base sur cette méthode a été développé pendant la thèse. / Many practical tasks in industry, such as automatic inspection or robot vision, often require scanning of three-dimensional shapes with non-contact techniques. However, transparent objects, such as those made of glass, still pose difficulties for classical scanning techniques. The reconstruction of surface geometry for transparent objects is complicated by the fact that light is transmitted through, refracted and in some cases reflected by the surface. Current approaches can only deal relatively well with sub-classes of objects. The algorithms are still very specific and not generally applicable. Furthermore, many techniques require considerable acquisition effort and careful calibration. This thesis proposes a new method of determining the surface shape of transparent objects. The method is based on local surface heating and thermal imaging. First, the surface of the object is heated with a laser source. A thermal image is acquired, and pixel coordinates of the heated point are calculated. Then, the 3D coordinates of the surface are computed using triangulation and the initial calibration of the system. The process is repeated by moving the transparent object to recover its surface shape. This method is called Scanning From Heating. Considering the laser beam as a point heating source and the surface of the object locally flat at the impact zone, the Scanning From Heating method is extended to obtain the surface normals of the object, in addition to the 3D world coordinates. A scanner prototype based on Scanning From Heating method has been developed during the thesis.

Many practical tasks in industry, such as automatic inspection or robot vision, often require scanning of three-dimensional shapes with non-contact techniques. However, transparent objects, such as those made of glass, still pose difficulties for classical scanning techniques. The reconstruction of surface geometry for transparent objects is complicated by the fact that light is transmitted through, refracted and in some cases reflected by the surface. Current approaches can only deal relatively well with sub-classes of objects. The algorithms are still very specific and not generally applicable. Furthermore, many techniques require considerable acquisition effort and careful calibration. This thesis proposes a new method of determining the surface shape of transparent objects. The method is based on local surface heating and thermal imaging. First, the surface of the object is heated with a laser source. A thermal image is acquired, and pixel coordinates of the heated point are calculated. Then, the 3D coordinates of the surface are computed using triangulation and the initial calibration of the system. The process is repeated by moving the transparent object to recover its surface shape. This method is called Scanning From Heating. Considering the laser beam as a point heating source and the surface of the object locally flat at the impact zone, the Scanning From Heating method is extended to obtain the surface normals of the object, in addition to the 3D world coordinates. A scanner prototype based on Scanning From Heating method has been developed during the thesis.