Cette thèse présente des contributions sur différents aspects du ''display retargeting'' dans le cadre de l'imagerie HDR (pour High Dynamic Range imaging en anglais). Bien que les contributions soient diverses, elles sont motivées par notre conviction que la préservation de l'intention artistique et la prise en compte de caractéristiques en termes de perception du système visuel humain sont essentielles pour un ''display retargeting'' esthétiquement et visuellement confortable. / This thesis presents various contributions in display retargeting under the vast field of High Dynamic Range (HDR) imaging. The motivation towards this work is the conviction that by preserving artistic intent and considering insights from human visual system leads to aesthetic, comfortable and efficient display retargeting.

This thesis addresses a number of problems in computer vision, image processing, and geometry processing, and presents novel solutions to these problems. The overarching theme of the techniques presented here is a multi-scale approach, leveraging mathematical tools to represent images and surfaces at different scales, and methods that can be adapted from one type of domain (eg., the plane) to another (eg., the sphere). The main problem addressed in this thesis is known as stereo reconstruction: reconstructing the geometry of a scene or object from two or more images of that scene. We develop novel algorithms to do this, which work for both planar and spherical images. By developing a novel way to formulate the notion of disparity for spherical images, we are able effectively adapt our algorithms from planar to spherical images. Our stereo reconstruction algorithm is based on a novel application of distance transforms to multi-scale matching. We use matching information aggregated over multiple scales, and enforce consistency between these scales using distance transforms. We then show how multiple spherical disparity maps can be efficiently and robustly fused using visibility and other geometric constraints. We then show how the reconstructed point clouds can be used to synthesize a realistic sequence of novel views, images from points of view not captured in the input images, in real-time. Along the way to this result, we address some related problems. For example, multi-scale features can be detected in spherical images by convolving those images with a filterbank, generating an overcomplete spherical wavelet representation of the image from which the multiscale features can be extracted. Convolution of spherical images is much more efficient in the spherical harmonic domain than in the spatial domain. Thus, we develop a GPU implementation for fast spherical harmonic transforms and frequency domain convolutions of spherical images. This tool can also be used to detect multi-scale features on geometric surfaces. When we have a point cloud of a surface of a particular class of object, whether generated by stereo reconstruction or by some other modality, we can use statistics and machine learning to more robustly estimate the surface. If we have at our disposal a database of surfaces of a particular type of object, such as the human face, we can compute statistics over this database to constrain the possible shape a new surface of this type can take. We show how a statistical spherical wavelet shape prior can be used to efficiently and robustly reconstruct a face shape from noisy point cloud data, including stereo data.

This Master's thesis deals with the design and development of tools for generating a synthetic dataset for traffic analysis purposes. The first part contains a brief introduction to the vehicle detection and rendering methods. Blender and the set of scripts are used to create highly customizable training images dataset and synthetic videos from a single photograph. Great care is taken to create very realistic output, that is suitable for further processing in field of traffic analysis. Produced images and videos are automatically richly annotated. Achieved results are tested by training a sample car detector and evaluated with real life testing data. Synthetic dataset outperforms real training datasets in this comparison of the detection rate. Computational demands of the tools are evaluated as well. The final part sums up the contribution of this thesis and outlines some extensions of the tools for the future.

This thesis deals with the design of an antenna array for the MSPS Radar L band application. The introduction covers a research for a suitable antenna element which can be used as an element of steerable antenna array. The control of the main beam is enabled in the vertical plane. Based on a presented theory, a slotted waveguide antenna array with an omnidirectional radiation in the vertical plane is designed. The operating frequency is set to 1 367.5 MHz. Slotted array achieves 20° width of the main beam in elevation plane. The achieved gain of the array is 9.15 dBi. Further attention of this work is focused on the beam steering that is allowed by diode switching. The last part of the thesis presents manufacturing process of the designed model. The CST Microwave Studio software was used for the antenna array designing process.

V interaktivních aplikacích jsou stíny tradičně zobrazovány s pomocí algoritmu založeným na stínových mapách. Nevýhodou toho algoritmu je, že stínová mapa, reprezentovaná texturou, má pouze omezené rozlišení. To může vést k nepěkným vizuálním artefaktům objevujících se na hranách stínů. Tato práce představuje postup, který je založen na vylepšené deformaci textury. To umožní zobrazit scénu obsahující složité světelné zdroje, zredukovat artefakty na hranicích stínů a také vylepšit kvalitu stínů bez ohledu na typu scény a její konfiguraci.

The studies in this dissertation mainly utilize planar antennas for ultra-wideband antenna designs not only on the investigation of antenna performance but also towards exploiting attractive features of ultra-wideband antennas for practical applications, such as WMAN access-point antennas, omnidirectional WiMAX access-point antennas, band-notched UWB (Ultra-wideband, 3.1 ~ 10.6 GHz) antennas, and so on. To begin with, the effects of the ground-plane size and the asymmetrical ground plane on ultra-wideband antennas are studied in Chapter 2. Following up, from the conclusive results, an antenna for WMAN operation in access-point applications and an omnidirectional monopole for USB wireless network card device are proposed and analyzed. Characteristics of ultra-wideband antenna radiation in relation to the antenna's width for obtaining omnidirectional radiation are addressed. In Chapter 3, several ultra-wideband access-point antennas are presented for achieving good omnidirectional radiation in the azimuthal plane across the bandwidth. Furthermore, in Chapter 4, band-notching techniques are applied to ultra-wideband antennas for avoiding the interference between the UWB and the WLAN systems.

La percepció per visió es millorada quan es pot gaudir d'un camp de visió ampli. Aquesta tesi es concentra en la percepció visual de la profunditat amb l'ajuda de càmeres omnidireccionals. La percepció 3D s'obté generalment en la visió per computadora utilitzant configuracions estèreo amb el desavantatge del cost computacional elevat a l'hora de buscar els elements visuals comuns entre les imatges. La solució que ofereix aquesta tesi és l'ús de la llum estructurada per resoldre el problema de relacionar les correspondències.S'ha realitzat un estudi sobre els sistemes de visió omnidireccional. S'han avaluat vàries configuracions estèreo i s'ha escollit la millor. Els paràmetres del model són difícils de mesurar directament i, en conseqüència, s'ha desenvolupat una sèrie de mètodes de calibració.Els resultats obtinguts són prometedors i demostren que el sensor pot ésser utilitzat en aplicacions per a la percepció de la profunditat com serien el modelatge de l'escena, la inspecció de canonades, navegació de robots, etc. / Vision perception is enhanced when a large field of view is available. This thesis is focused on the visual perception of depth by means of omnidirectional cameras. The 3D sensing is obtained in computer vision by means of stereo configurations with the drawback of feature matching between images. The solution offered in this dissertation uses structured light projection for solving the matching problem. First, a survey on omnidirectional vision systems was realized. Then, the sensor design was addressed and the particular stereo configuration of the proposed sensor was decided. An accurate model is obtained by a careful study of both components of the sensor. The model parameters are measured by a set of calibration methods.The results obtained are encouraging and prove that the sensor can be used in depth perception applications such as scene modeling, pipe inspections, robot navigation, etc.

To navigate successfully in a previously unexplored environment, a mobile robot must be able to estimate the spatial relationships of the objects of interest accurately. A Simultaneous Localization and Mapping (SLAM) sys- tem employs its sensors to build incrementally a map of its surroundings and to localize itself in the map simultaneously. The aim of this research project is to develop a SLAM system suitable for self propelled household lawnmowers. The proposed bearing-only SLAM system requires only an omnidirec- tional camera and some inexpensive landmarks. The main advantage of an omnidirectional camera is the panoramic view of all the landmarks in the scene. Placing landmarks in a lawn field to define the working domain is much easier and more flexible than installing the perimeter wire required by existing autonomous lawnmowers. The common approach of existing bearing-only SLAM methods relies on a motion model for predicting the robot’s pose and a sensor model for updating the pose. In the motion model, the error on the estimates of object positions is cumulated due mainly to the wheel slippage. Quantifying accu- rately the uncertainty of object positions is a fundamental requirement. In bearing-only SLAM, the Probability Density Function (PDF) of landmark position should be uniform along the observed bearing. Existing methods that approximate the PDF with a Gaussian estimation do not satisfy this uniformity requirement. This thesis introduces both geometric and proba- bilistic methods to address the above problems. The main novel contribu- tions of this thesis are: 1. A bearing-only SLAM method not requiring odometry. The proposed method relies solely on the sensor model (landmark bearings only) without relying on the motion model (odometry). The uncertainty of the estimated landmark positions depends on the vision error only, instead of the combination of both odometry and vision errors. 2. The transformation of the spatial uncertainty of objects. This thesis introduces a novel method for translating the spatial un- certainty of objects estimated from a moving frame attached to the robot into the global frame attached to the static landmarks in the environment. 3. The characterization of an improved PDF for representing landmark position in bearing-only SLAM. The proposed PDF is expressed in polar coordinates, and the marginal probability on range is constrained to be uniform. Compared to the PDF estimated from a mixture of Gaussians, the PDF developed here has far fewer parameters and can be easily adopted in a probabilistic framework, such as a particle filtering system. The main advantages of our proposed bearing-only SLAM system are its lower production cost and flexibility of use. The proposed system can be adopted in other domestic robots as well, such as vacuum cleaners or robotic toys when terrain is essentially 2D.

The aim of this master's thesis was to create a design for a prototype of a mobile robotic platform and its physical fabrication. Another goal of this master's thesis was to develop a control algorithm and its implementation into a prototype. In addition, the thesis was extended by an autonomous motion mode, an algorithm for robot path planning, and the design of the Human Machine Interface (HMI). The introduction contains a description of some already created mobile robotic platforms, a presentation of the company B&R and the theory needed to understand omnidirectional mobility. The next chapters describe the design and construction of a prototype with a selection of electronic components and their wiring, implementation of an algorithm for robot path planning, implementation of a control algorithm and design, together with the implementation of the user environment. At the end of this master's thesis, the possibilities of extending the project to future years are described.

The Master´s thesis deals with the theoretical design, practical numerical analyses and optimalization of disc-like antenna and disc-like slot antenna. The antennas have relative omnidirectional radiation characteristics in the horizontal plane, respectively in the vertical plane. Antennas exploit the substrate integrated waveguide technology. The antennas themselves are designed for the purpose of making the antenna array that will be work as an antenna unit for access point. The antennas are manufactured and experimentally verified. The program CST Microwave Studio is used for simulation in the thesis.