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Auteur Bahman Soheilian
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PhD student at MATIS (2004-2008)
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Multi-view 3D circular target reconstruction with uncertainty analysis / Bahman Soheilian in ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, vol II-3 (September 2014)
[article]
Titre : Multi-view 3D circular target reconstruction with uncertainty analysis Type de document : Article/Communication Auteurs : Bahman Soheilian , Auteur ; Mathieu Brédif , Auteur Année de publication : 2014 Conférence : PCV 2014, ISPRS Technical Commission 3 Symposium Photogrammetric Computer vision 05/09/2014 07/09/2014 Zurich Suisse OA ISPRS Annals Article en page(s) : pp 143 - 148 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Applications photogrammétriques
[Termes IGN] cible réfléchissante
[Termes IGN] cône
[Termes IGN] incertitude des données
[Termes IGN] matrice de covariance
[Termes IGN] modèle de Gauss-Helmert
[Termes IGN] programmation par contraintes
[Termes IGN] propagation d'erreur
[Termes IGN] reconstruction 3DRésumé : (auteur) The paper presents an algorithm for reconstruction of 3D circle from its apparition in n images. It supposes that camera poses are known up to an uncertainty. They will be considered as observations and will be refined during the reconstruction process. First, circle apparitions will be estimated in every individual image from a set of 2D points using a constrained optimization. Uncertainty of 2D points are propagated in 2D ellipse estimation and leads to covariance matrix of ellipse parameters. In 3D reconstruction process ellipse and camera pose parameters are considered as observations with known covariances. A minimal parametrization of 3D circle enables to model the projection of circle in image without any constraint. The reconstruction is performed by minimizing the length of observation residuals vector in a non linear Gauss-Helmert model. The output consists in parameters of the corresponding circle in 3D and their covariances. The results are presented on simulated data. Numéro de notice : A2014-774 Affiliation des auteurs : LASTIG MATIS (2012-2019) Thématique : IMAGERIE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.5194/isprsannals-II-3-143-2014 Date de publication en ligne : 07/09/2014 En ligne : http://dx.doi.org/10.5194/isprsannals-II-3-143-2014 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=78722
in ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences > vol II-3 (September 2014) . - pp 143 - 148[article]Documents numériques
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Multi-view 3D circular target reconstruction with uncertainty analysisAdobe Acrobat PDF Semi-automatic road/pavement modeling using mobile laser scanning / Alexandre Hervieu in ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, vol II-3 W3 (November 2013)
[article]
Titre : Semi-automatic road/pavement modeling using mobile laser scanning Type de document : Article/Communication Auteurs : Alexandre Hervieu , Auteur ; Bahman Soheilian , Auteur Année de publication : 2013 Projets : 1-Pas de projet / Conférence : CMRT 2013, City Models, Roads and Traffic 12/11/2013 13/11/2013 Antalya Turquie OA ISPRS Annals Article en page(s) : pp 31 - 36 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Lasergrammétrie
[Termes IGN] chaussée
[Termes IGN] données lidar
[Termes IGN] données localisées 3D
[Termes IGN] modèle numérique
[Termes IGN] précision centimétriqueRésumé : (auteur) Scene analysis, in urban environments, deals with street modeling and understanding. A street mainly consists of roadways, pavements (i.e., walking areas), facades, still and moving obstacles. In this paper, we investigate the surface modeling of roadways and pavements using LIDAR data acquired by a mobile laser scanning (MLS) system. First, road border detection is considered. A system recognizing curbs and curb ramps while reconstructing the missing information in case of occlusion is presented. A user interface scheme is also described, providing an effective tool for semi-automatic processing of large amount of data. Then, based upon road edge information, a process that reconstructs surfaces of roads and pavements has been developed, providing a centimetric precision while reconstructing missing information. This system hence provides an important knowledge of the street, that may open perspectives in various domains such as path planning or road maintenance. Numéro de notice : A2013-794 Affiliation des auteurs : LASTIG MATIS (2012-2019) Thématique : IMAGERIE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.5194/isprsannals-II-3-W3-31-2013 Date de publication en ligne : 08/10/2013 En ligne : http://dx.doi.org/10.5194/isprsannals-II-3-W3-31-2013 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=80400
in ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences > vol II-3 W3 (November 2013) . - pp 31 - 36[article]A synergistic approach for recovering occlusion-free textured 3D maps of urban facades from heterogeneous cartographic data / Karim Hammoudi in International journal of advanced robotic systems, vol 10 (2013)
[article]
Titre : A synergistic approach for recovering occlusion-free textured 3D maps of urban facades from heterogeneous cartographic data Type de document : Article/Communication Auteurs : Karim Hammoudi , Auteur ; Fadi Dornaika , Auteur ; Bahman Soheilian , Auteur ; Bruno Vallet , Auteur ; John McDonald, Auteur ; Nicolas Paparoditis , Auteur Année de publication : 2013 Article en page(s) : pp 316 - 326 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Applications photogrammétriques
[Termes IGN] données lidar
[Termes IGN] données localisées 3D
[Termes IGN] façade
[Termes IGN] image terrestre
[Termes IGN] modèle numérique du bâti
[Termes IGN] semis de points
[Termes IGN] texture d'image
[Termes IGN] zone urbaine denseRésumé : (auteur) In this paper, we present a practical approach for generating an occlusion-free textured 3D map of urban facades by the synergistic use of terrestrial images, 3D point clouds and area-based information. Particularly in dense urban environments, the high presence of urban objects in front of the facades causes significant difficulties for several stages in computational building modeling. Major challenges lie on the one hand in extracting complete 3D facade quadrilateral delimitations and on the other hand in generating occlusion-free facade textures. For these reasons, we describe a straightforward approach for completing and recovering facade geometry and textures by exploiting the data complementarity of terrestrial multi-source imagery and area-based information. Numéro de notice : A2013-804 Affiliation des auteurs : LASTIG MATIS+Ext (2012-2019) Thématique : IMAGERIE Nature : Article DOI : 10.5772/56570 Date de publication en ligne : 01/01/2013 En ligne : http://dx.doi.org/10.5772/56570 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=80078
in International journal of advanced robotic systems > vol 10 (2013) . - pp 316 - 326[article]Detection and 3D reconstruction of traffic signs from multiple view color images / Bahman Soheilian in ISPRS Journal of photogrammetry and remote sensing, vol 77 (March 2013)
[article]
Titre : Detection and 3D reconstruction of traffic signs from multiple view color images Type de document : Article/Communication Auteurs : Bahman Soheilian , Auteur ; Nicolas Paparoditis , Auteur ; Bruno Vallet , Auteur Année de publication : 2013 Projets : CityVIP / Paparoditis, Nicolas Article en page(s) : pp 1 - 20 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Traitement d'image optique
[Termes IGN] appariement automatique
[Termes IGN] couleur (variable spectrale)
[Termes IGN] figure géométrique
[Termes IGN] géométrie épipolaire
[Termes IGN] programmation par contraintes
[Termes IGN] Ransac (algorithme)
[Termes IGN] reconstruction 3D
[Termes IGN] segmentation d'image
[Termes IGN] signalisation routièreRésumé : (Auteur) 3D reconstruction of traffic signs is of great interest in many applications such as image-based localization and navigation. In order to reflect the reality, the reconstruction process should meet both accuracy and precision. In order to reach such a valid reconstruction from calibrated multi-view images, accurate and precise extraction of signs in every individual view is a must. This paper presents first an automatic pipeline for identifying and extracting the silhouette of signs in every individual image. Then, a multi-view constrained 3D reconstruction algorithm provides an optimum 3D silhouette for the detected signs. The first step called detection, tackles with a color-based segmentation to generate ROIs (Region of Interests) in image. The shape of every ROI is estimated by fitting an ellipse, a quadrilateral or a triangle to edge points. A ROI is rejected if none of the three shapes can be fitted sufficiently precisely. Thanks to the estimated shape the remained candidates ROIs are rectified to remove the perspective distortion and then matched with a set of reference signs using textural information. Poor matches are rejected and the types of remained ones are identified. The output of the detection algorithm is a set of identified road signs whose silhouette in image plane is represented by and ellipse, a quadrilateral or a triangle. The 3D reconstruction process is based on a hypothesis generation and verification. Hypotheses are generated by a stereo matching approach taking into account epipolar geometry and also the similarity of the categories. The hypotheses that are plausibly correspond to the same 3D road sign are identified and grouped during this process. Finally, all the hypotheses of the same group are merged to generate a unique 3D road sign by a multi-view algorithm integrating a priori knowledges about 3D shape of road signs as constraints. The algorithm is assessed on real and synthetic images and reached and average accuracy of 3.5cm for position and 4.5° for orientation. Numéro de notice : A2013-111 Affiliation des auteurs : LASTIG MATIS (2012-2019) Thématique : IMAGERIE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1016/j.isprsjprs.2012.11.009 Date de publication en ligne : 26/01/2013 En ligne : https://doi.org/10.1016/j.isprsjprs.2012.11.009 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=32249
in ISPRS Journal of photogrammetry and remote sensing > vol 77 (March 2013) . - pp 1 - 20[article]Réservation
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Code-barres Cote Support Localisation Section Disponibilité 081-2013031 RAB Revue Centre de documentation En réserve L003 Disponible Generation of an integrated 3D city model with visual landmarks for autonomous navigation in dense urban areas / Bahman Soheilian (June 2013)
Titre : Generation of an integrated 3D city model with visual landmarks for autonomous navigation in dense urban areas Type de document : Article/Communication Auteurs : Bahman Soheilian , Auteur ; Olivier Tournaire , Auteur ; Nicolas Paparoditis , Auteur ; Bruno Vallet , Auteur ; Jean-Pierre Papelard , Auteur Editeur : New York : Institute of Electrical and Electronics Engineers IEEE Année de publication : June 2013 Projets : CityVIP / Paparoditis, Nicolas Conférence : IV 2013, IEEE Intelligent Vehicles Symposium 23/06/2013 26/06/2013 Gold Coast City Australie Proceedings IEEE Importance : pp 304 - 309 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Bases de données localisées
[Termes IGN] base de données localisées
[Termes IGN] bati
[Termes IGN] données localisées 3D
[Termes IGN] navigation autonome
[Termes IGN] route
[Termes IGN] vision par ordinateurRésumé : (auteur) In the context of urban autonomous navigation systems for going from point A to point B, a practicable trajectory which takes into account drivable areas and permanent obstacles should be designed first. A robot should then follow this trajectory while avoiding not only dynamic obstacles such as cars and pedestrians but also permanent obstacles such as road sides and central islands. To this end, a robot must be aware of its exact position and must be informed of what its immediate environment is at all times. In dense urban areas, GNSS systems generally suffer from lack of precision due to masks and multipaths. Localization systems have to model these phenomena and even merge with vision based methods in order to obtain the high accuracies required in the process. In this paper, we propose an integrated geographic database enabling, on the one hand, the GNSS and vision based localization methods to obtain the required accuracy, and on the other, to provide the robots with information about its surroundings such as drivable surfaces and permanent obstacles. The database is comprised of 3D buildings, 3D roads and a set of 3D visual landmarks. Our system provides most of the information required for autonomous navigation in dense urban areas and has successfully been embedded in real experiments, thanks to a real-time querying system. Numéro de notice : C2013-041 Affiliation des auteurs : LASTIG MATIS+Ext (2012-2019) Autre URL associée : vers HAL Thématique : INFORMATIQUE/POSITIONNEMENT Nature : Communication nature-HAL : ComAvecCL&ActesPubliésIntl DOI : 10.1109/IVS.2013.6629486 Date de publication en ligne : 15/10/2013 En ligne : https://doi.org/10.1109/IVS.2013.6629486 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=80148 Documents numériques
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Generation of an integrated 3D city model ... - preprintAdobe Acrobat PDF PermalinkTrees detection from laser point clouds acquired in dense urban areas by a mobile mapping system / Fabrice Monnier in ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, vol I-3 (2012)PermalinkDétection et localisation 3D de panneaux de signalisation [diaporama] / Bahman Soheilian (08/03/2012)PermalinkRecovering quasi-real occlusion-free textures for facade models by exploiting fusion of image and laser street data and image inpainting / Karim Hammoudi (2012)PermalinkContributions to the 3D city modeling. 3D polyhedral building model reconstruction from aerial images & 3D facade modeling from terrestrial 3D point cloud and images / Karim Hammoudi (2011)Permalink3D road marking reconstruction from street-level calibrated stereo pairs / Bahman Soheilian in ISPRS Journal of photogrammetry and remote sensing, vol 65 n° 4 (July - August 2010)PermalinkDétection et reconnaissance de la signalisation verticale par analyse d'images, ch 4. Détection et reconnaissance par ajustement de modèles géométriques et radiométriques / Bahman Soheilian (2010)PermalinkPermalinkExtracting wire-frame models of street facades from 3D point clouds and the corresponding cadastral map / Karim Hammoudi (2010)PermalinkExtraction of vertical posts in 3D laser point clouds acquired in dense urban areas by a mobile mapping system / Sterenn Liberge (2010)Permalink