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Local and global methods for registering 2D image sets and 3D point clouds / Méthodes d'optimisation locales et globales pour le recalage d'images 2D et de nuages de points 3D

Pas de résumé / In this thesis, we study the problem of registering 2D image sets and 3D point clouds under threedifferent acquisition set-ups. The first set-up assumes that the image sets are captured using 2Dcameras that are fully calibrated and coupled, or rigidly attached, with a 3D sensor. In this context,the point cloud from the 3D sensor is registered directly to the asynchronously acquired 2D images.In the second set-up, the 2D cameras are internally calibrated but uncoupled from the 3D sensor,allowing them to move independently with respect to each other. The registration for this set-up isperformed using a Structure-from-Motion reconstruction emanating from images and planar patchesrepresenting the point cloud. The proposed registration method is globally optimal and robust tooutliers. It is based on the theory Sum-of-Squares polynomials and a Branch-and-Bound algorithm.The third set-up consists of uncoupled and uncalibrated 2D cameras. The image sets from thesecameras are registered to the point cloud in a globally optimal manner using a Branch-and-Prunealgorithm. Our method is based on a Linear Matrix Inequality framework that establishes directrelationships between 2D image measurements and 3D scene voxels.

Identiferoai:union.ndltd.org:theses.fr/2015DIJOS077
Date10 December 2015
CreatorsPaudel, Danda Pani
ContributorsDijon, Demonceaux, Cédric, Vasseur, Pascal, Habed, Adlane
Source SetsDépôt national des thèses électroniques françaises
LanguageEnglish
Detected LanguageEnglish
TypeElectronic Thesis or Dissertation, Text

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