Analyse adaptative du mouvement dans des séquences monoculaires non calibrées

Abstract

Part of the robotic vision framework, this thesis focuses on uncalibrated monocular video sequence analysis, taking singular physical cases into account (camera models, internal camera parameter evolution, object displacements, scene structure) that leads to specific equations. Singularities may allow us to retrieve more movement or structure elements than general equations. Moreover, numerical precision is improved as the number of parameters decreases. Thus, the detection and the proper management of geometric and kinematic properties of those singular cases are fundamental. The complete study of all singular cases in a pair of images, or a video sequence, is computationally intractable and requires an appropriately adapted algorithm. The implementation of the theoretical study is based on the Argès robotic system. The system is able to determine the specific movement from a pair of images and computes the related parameters.