Détail de l'auteur
Auteur Francis Schmitt |
Documents disponibles écrits par cet auteur (7)
Ajouter le résultat dans votre panier
Visionner les documents numériques
Affiner la recherche Interroger des sources externes
Modeling and Simulation in Engineering, ch. 1. Image-laser fusion for in situ 3D modeling of complex environments: A 4D panoramic-driven approach / Daniela Craciun (2012)
Titre de série : Modeling and Simulation in Engineering, ch. 1 Titre : Image-laser fusion for in situ 3D modeling of complex environments: A 4D panoramic-driven approach Type de document : Chapitre/Contribution Auteurs : Daniela Craciun , Auteur ; Nicolas Paparoditis , Auteur ; Francis Schmitt, Auteur Editeur : London [UK] : IntechOpen Année de publication : 2012 Importance : pp 3 - 28 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Applications photogrammétriques
[Termes IGN] alignement des données
[Termes IGN] chaîne de traitement
[Termes IGN] données 4D
[Termes IGN] données lidar
[Termes IGN] données localisées 3D
[Termes IGN] estimation de pose
[Termes IGN] grotte
[Termes IGN] image panoramique
[Termes IGN] modèle 3D du site
[Termes IGN] mosaïquage d'images
[Termes IGN] rendu réaliste
[Termes IGN] site archéologique
[Termes IGN] texturageRésumé : (auteur) [introduction] One might wonder what can be gained from the image-laser fusion and in which measure such a hybrid system can generate automatically complete and photorealist 3D models of difficult to access and unstructured underground environments. Our research work is focused on developing a vision-based system aimed at automatically generating in-situ photorealist 3D models in previously unknown and unstructured underground environments from image and laser data. In particular, we are interested in modeling underground prehistoric caves. In such environments, special attention must be given to the main issue standing behind the automation of the 3D modeling pipeline which is represented by the capacity to match reliably image and laser data in GPS-denied and feature-less areas. In addition, time and in-situ access constraints require fast and automatic procedures for in-situ data acquisition, processing and interpretation in order to allow forin-situ verification of the 3D scene model completeness. Finally, the currently generated 3D model represents the only available information providing situational awareness based on which autonomous behavior must be built in order to enable the system to act intelligently on-the-fly and explore the environment to ensure the 3D scene model completeness. This chapter evaluates the potential of a hybrid image-laser system for generating in-situ complete and photorealist 3D models of challenging environments, while minimizing human operator intervention. The presented research focuses on two main aspects: (i) the automation of the 3D modeling pipeline, targeting the automatic data matching in feature-less and GPS-denied areas for in-situ world modeling and (ii) the exploitation of the generated 3Dmodels along with visual servoing procedures to ensure automatically the 3D scene model completeness. We start this chapter by motivating the jointly use of laser and image data and by listing the main key issues which need to be addressed when aiming to supply automatic photorealist3D modeling tasks while coping with time and in-situ access constraints. The next four sections are dedicated to a gradual description of the 3D modeling system in which we project the proposed image-laser solutions designed to be embedded onboard mobile plateforms, providing them with world modeling capabilities and thus visual perception. This is an important aspect for the in-situ modeling process, allowing the system to be aware and to act intelligently on-the-fly in order to explore and digitize the entire site. For this reason, we introduce it as ARTVISYS, the acronym for ARTificial VIsion-based SYStems. Numéro de notice : H2012-003 Affiliation des auteurs : MATIS+Ext (1993-2011) Autre URL associée : autre adresse Thématique : IMAGERIE/INFORMATIQUE Nature : Chapître / contribution nature-HAL : ChOuvrScient DOI : 10.5772/30269 Date de publication en ligne : 07/03/2012 En ligne : https://doi.org/10.5772/30269 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=97390 Multi-view scans alignment for 3D spherical mosaicing in large-scale unstructured environments / Daniela Craciun in Computer Vision and image understanding, vol 114 n° 11 (November 2010)
[article]
Titre : Multi-view scans alignment for 3D spherical mosaicing in large-scale unstructured environments Type de document : Article/Communication Auteurs : Daniela Craciun , Auteur ; Nicolas Paparoditis , Auteur ; Francis Schmitt, Auteur Année de publication : 2010 Article en page(s) : pp 1248 - 1263 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Lasergrammétrie
[Termes IGN] algorithme ICP
[Termes IGN] alignement
[Termes IGN] appariement de données localisées
[Termes IGN] données lidar
[Termes IGN] données localisées 3D
[Termes IGN] grotte
[Termes IGN] méthode fiable
[Termes IGN] modélisation 3D
[Termes IGN] rendu réaliste
[Termes IGN] télémètre laser terrestreRésumé : (auteur) We are currently developing a vision-based system aiming to perform a fully automatic pipeline for in situ photorealistic three-dimensional (3D) modeling of previously unknown, complex and unstructured underground environments. Since in such environments navigation sensors are not reliable, our system embeds only passive (camera) and active (laser) 3D vision senors. Laser Range Finders are particularly well suited for generating dense 3D maps by aligning multiples scans acquired from different viewpoints. Nevertheless, nowadays Iteratively Closest Point (ICP)-based scan matching techniques rely on heavy human operator intervention during a post-processing step. Since a human operator cannot access the site, these techniques are not suitable in high-risk underground environments. This paper presents an automatic on-line scan matcher able to cope with the nowadays 3D laser scanners’ architecture and to process either intensity or depth data to align scans, providing robustness with respect to the capture device. The proposed implementation emphasizes the portability of our algorithm on either single or multi-core embedded platforms for on-line mosaicing onboard 3D scanning devices. The proposed approach addresses key issues for in situ 3D modeling in difficult-to-access and unstructured environments and solves for the 3D scan matching problem within an environment-independent solution. Several tests performed in two prehistoric caves illustrate the reliability of the proposed method. Numéro de notice : A2010-660 Affiliation des auteurs : MATIS+Ext (1993-2011) Thématique : IMAGERIE/INFORMATIQUE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1016/j.cviu.2010.03.019 Date de publication en ligne : 29/04/2010 En ligne : https://doi.org/10.1016/j.cviu.2010.03.019 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=91756
in Computer Vision and image understanding > vol 114 n° 11 (November 2010) . - pp 1248 - 1263[article]Automatic gigapixel mosaïcing in large scale unstructured underground environments / Daniela Craciun (2009)
contenu dans Proceedings of MVA 2009, IAPR Conference on Machine vision Applications, May 20-22, 2009, Keio University, Japan / Hideo Saito (2009)
Titre : Automatic gigapixel mosaïcing in large scale unstructured underground environments Type de document : Article/Communication Auteurs : Daniela Craciun , Auteur ; Francis Schmitt, Auteur ; Nicolas Paparoditis , Auteur Editeur : Saint-Mandé : Institut Géographique National - IGN (2008-2011) Année de publication : 2009 Conférence : MVA 2009, IAPR Conference on Machine Vision Applications 20/05/2009 22/05/2009 Yokohama Japon open access proceedings Importance : pp 13 - 16 Format : 21 x 30 cm Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Traitement d'image
[Termes IGN] caméra numérique
[Termes IGN] grande échelle
[Termes IGN] grotte
[Termes IGN] image gigapixel
[Termes IGN] mosaïquage d'images
[Termes IGN] mosaïque d'images
[Termes IGN] TautavelRésumé : (Auteur) We are currently developing a vision-based system aiming at automatically generating in situ ultra-high resolution mosaics in previously unknown, complex and unstructured underground environments. Nowadays, image stitching algorithms present several limitations when dealing with unstructured environments. The most important to our concern is the ability to deal with feature-less areas. In this paper we describe an automatic on line Gigapixel mosaicing system capable to deal with the absence of reliably detectable and trackable features. The input of our algorithm is a pose-annotated sequence of high-resolution images acquired from a common optical center by a calibrated pantilt motorized digital camera unit. The proposed mosaïcing system is powered by a global-to-local pairwise image alignment which recovers the rotations relating the overlapping images in a coarse-to-fine approach. The local motion procedure outputs a list of locally matched anonymous features which are later injected in a bundle adjustment engine for multi-view fine alignment. The proposed algorithm combines the state of the art mosaicing techniques in a complementary and efficient fashion providing an environment-independent solution for the image mosaicing task. The final output of the algorithm is a Gigapixel spherical mosaic rendering. Tests on real data acquired in a prehistorical cave (Tautavel Cave, France) illustrate mosaicing examples obtained from several hundreds of high-resolution images. Numéro de notice : C2009-053 Affiliation des auteurs : MATIS+Ext (1993-2011) Thématique : IMAGERIE Nature : Communication nature-HAL : ComAvecCL&ActesPubliésIntl DOI : sans En ligne : http://www.mva-org.jp/Proceedings/2009CD/papers/02-01.pdf Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=64292 Documents numériques
en open access
13877_commu_mva_2009_craciun_et_al.pdfAdobe Acrobat PDF Automatic pyramidal intensity-based laser scan matcher for 3D modeling of large scale unstructured environments / Daniela Craciun (2008)
Titre : Automatic pyramidal intensity-based laser scan matcher for 3D modeling of large scale unstructured environments Type de document : Article/Communication Auteurs : Daniela Craciun , Auteur ; Nicolas Paparoditis , Auteur ; Francis Schmitt, Auteur Editeur : New-York : IEEE Computer society Année de publication : 2008 Projets : 2-Pas d'info accessible - article non ouvert / Conférence : CRV 2008, 5th Canadian Conference on Computer and Robot Vision 28/05/2008 30/05/2008 Windsor Ontario - Canada Proceedings IEEE Importance : pp 18 - 25 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Applications photogrammétriques
[Termes IGN] algorithme ICP
[Termes IGN] alignement des données
[Termes IGN] appariement de données localisées
[Termes IGN] chaîne de traitement
[Termes IGN] corrélation automatique de points homologues
[Termes IGN] données lidar
[Termes IGN] données localisées 3D
[Termes IGN] estimation de cohérence
[Termes IGN] grotte
[Termes IGN] image panoramique
[Termes IGN] image terrestre
[Termes IGN] lever souterrain
[Termes IGN] modèle 3D du site
[Termes IGN] site archéologiqueRésumé : (auteur) We are developing a vision-based system for photorealistic 3D modeling of previously unknown, complex and unstructured underground environments. Nowadays, laser range finders allow us to build 3D maps of the environment by taking multiple scans from different viewpoints. The scans are usually aligned via two post-processing steps: first, a coarse alignment is provided by an operator and second, a fine solution is computed via Iterative ClosestPoint algorithm. In this paper we describe an automatic on line scan matcher system which replaces the two post-processing steps of the existing methods. The scan matcher is powered by a pyramidal pairwise matching of 2D intensity panoramic views using a dense correlation procedure via quaternions. The proposed method does not rely on feature extraction providing thus an environment-independent solution for the scan matching task. The pyramidal structure provides a fast and accurate scan alignment in a coarse to fine approach. The scan matcher allows us to automatically build in situ 3D mosaics by integrating multiple partially overlapping scans based on a topological inference criterion which improves the global matching consistency. Tests on real data from two prehistoric caves are presented and a performance evaluation is given. Numéro de notice : C2008-026 Affiliation des auteurs : MATIS+Ext (1993-2011) Thématique : IMAGERIE Nature : Communication nature-HAL : ComAvecCL&ActesPubliésIntl DOI : 10.1109/CRV.2008.35 En ligne : https://doi.org/10.1109/CRV.2008.35 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=97388 RFIA '98, 11ème congrès reconnaissance des formes et intelligence artificielle, volume 1. Proceedings / Michel Chein (1998)Voir aussiRéservation
Réserver ce documentExemplaires(1)
Code-barres Cote Support Localisation Section Disponibilité 17427-01A CG1998 Livre Centre de documentation Congrès Disponible RFIA '98, 11ème congrès reconnaissance des formes et intelligence artificielle, Volume 2. Proceedings / Michel Chein (1998)PermalinkRFIA '98, 11ème congrès reconnaissance des formes et intelligence artificielle, Volume 3. Proceedings / Michel Chein (1998)Permalink