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Titre : 3D object detection using lidar point clouds and 2D image object detection Type de document : Mémoire Auteurs : Topi Miekkala, Auteur Editeur : Tampere [Finlande] : Tampere University Année de publication : 2021 Importance : 67 p. Format : 21 x 30 cm Note générale : bibliographie
Master of Science Thesis, Automation EngineeringLangues : Français (fre) Descripteur : [Vedettes matières IGN] Applications photogrammétriques
[Termes IGN] apprentissage profond
[Termes IGN] détection d'objet
[Termes IGN] données lidar
[Termes IGN] données localisées 3D
[Termes IGN] fusion de données
[Termes IGN] image 2D
[Termes IGN] navigation autonome
[Termes IGN] objet 3D
[Termes IGN] piéton
[Termes IGN] point d'intérêt
[Termes IGN] segmentation
[Termes IGN] semis de points
[Termes IGN] temps réel
[Termes IGN] vision par ordinateurRésumé : (auteur) This master thesis is about the environmental sensing of an automated vehicle, and its ability to recognize objects of interest such as other road users including pedestrians and other vehicles. Automated driving is a popular and growing field of research, and the continuous increase in the demand of self-driving vehicles requires manufacturers to constantly improve the safety and environmental sensing capabilities of their vehicles. Deep learning neural networks and sensor data fusion are significant tools in the development of detection algorithms of automated vehicles. This thesis presents a method combining neural networks and sensor data fusion to implement 3D object detection into a self-driving car. The method uses an onboard camera sensor and a state of the art 2D image object detector YOLO v4, combining its detections with the data of a lidar sensor, which produces dense point clouds of its environment. These point clouds can be used to estimate distances and locations of surrounding targets. Using inter-sensor calibration between the camera and the lidar, the 3D points outputted by the lidar can be projected on a 2D image, therefore allowing the 3D location estimation of 2D objects detected in an image. The thesis first presents the research questions and the theoretical methods used to implement the algorithm. Some background on automated driving is also presented, followed by the specific research environment and vehicle used in this thesis. The thesis also presents the software implementations and vehicle system integration steps needed to implement everything into a self-driving car to achieve a real-time 3D object detection system. The results of this thesis show that using sensor data fusion, such a system can be integrated fully into a self-driving vehicle, and the processing times of the algorithm can be kept at a real-time rate. Note de contenu : 1- Introduction
2- Methods for sensor data and object detection
3- Autonomous driving and environmental sensing
4- Experiments
5- Evaluation
6- ConclusionNuméro de notice : 28594 Affiliation des auteurs : non IGN Thématique : IMAGERIE/INFORMATIQUE Nature : Mémoire masters divers En ligne : https://trepo.tuni.fi/handle/10024/132285 Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=99323 Automatic object extraction from airborne laser scanning point clouds for digital base map production / Elyta Widyaningrum (2021)
Titre : Automatic object extraction from airborne laser scanning point clouds for digital base map production Type de document : Thèse/HDR Auteurs : Elyta Widyaningrum, Auteur Editeur : Delft [Pays-Bas] : Delft University of Technology Année de publication : 2021 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Applications photogrammétriques
[Termes IGN] axe médian
[Termes IGN] chaîne de traitement
[Termes IGN] détection d'objet
[Termes IGN] détection du bâti
[Termes IGN] données lidar
[Termes IGN] données localisées 3D
[Termes IGN] extraction du réseau routier
[Termes IGN] image aérienne
[Termes IGN] orthoimage
[Termes IGN] semis de points
[Termes IGN] squelettisation
[Termes IGN] transformation de Hough
[Termes IGN] vectorisationRésumé : (auteur) A base map provides essential geospatial information for applications such as urban planning, intelligent transportation systems, and disaster management. Buildings and roads are the main ingredients of a base map and are represented by polygons. Unfortunately, manually delineating their boundaries from remote sensing data is time consuming and labour intensive. Airborne laser scanning (ALS) point clouds provide dense and accurate 3D positional information. Automatic extraction of buildings and roads from 3D point clouds is challenging because of their irregular shapes, occlusions in the data, and irregularity of ALS point clouds. This study focuses on two particular objectives: (i) accurate classification of a large volume of ALS 3D point clouds; and (ii) smooth and accurate building and road outline extraction. To achieve the classification objective, we perform point-wise deep learning to classify an ALS point cloud of a complex urban scene in Surabaya, Indonesia. The point cloud is colored by airborne orthophotos. Training data is obtained from an existing 2D topographic base map by a semi-automatic method proposed in this research. A dynamic-graph convolutional neural network is used to classify the point cloud into four classes: bare land, trees, buildings, and roads. We investigate effective input feature combinations for outdoor point cloud classification. A highly acceptable classification result of 91.8% overall accuracy is achieved when using the full combination of RGB color and LiDAR features. To address the objective of outline extraction, we propose building and road outline extraction methods that run directly on ALS point cloud data. For accurate and smooth building outline extraction, we propose two different methods. First, we develop the ordered Hough transform (OHT), which is an extension of the traditional Hough transform, by explicitly incorporating the sequence of points to form the outline. Second, we propose a new method based on Medial Axis Transform (MAT) skeletons which takes advantage of the skeleton points to detect building corners. The OHT method is resistant to noise but it requires prior knowledge on a building’s main directions. On the contrary, the MAT-based method does not require such orientation initialization but is more sensitive to noise on building edges. We compare the results of our building outline extraction methods to an existing RANSAC-based method, in terms of geometric accuracy, completeness of building corners, and computation time, and demonstrate that the MAT-based approach has the highest geometric accuracy, results in more complete building corners, and is slightly faster than other methods. For road network extraction, we develop a method based on skeletonization, which results in complete and continuous road centerlines and boundaries. In our study area, several roads are disrupted and disconnected due to trees. We design a tree-constrained approach to fill road gaps and integrate road width estimated from a medial axis algorithm. Comparison to reference data shows that the proposed method is able to extract almost all existing roads in the study area, and even detects roads that were not present in the reference due to human errors. We conclude that our object extraction methods enable a complete automatic procedure, extracting more accurate building and road outlines from ALS point cloud data. This contributes to a higher automation readiness level for a faster and cheaper base map production. Numéro de notice : 17664 Affiliation des auteurs : non IGN Thématique : IMAGERIE/INFORMATIQUE Nature : Thèse étrangère Note de thèse : PhD thesis : Sciences : TU Delft: 2021 Date de publication en ligne : 10/03/2021 En ligne : https://doi.org/10.4233/uuid:8900fac8-a76c-482a-b280-e1758783b5b3 Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=97984
Titre : Auxiliary tasks for the conditioning of generative adversarial networks Type de document : Thèse/HDR Auteurs : Cyprien Ruffino, Auteur ; Gilles Gasso, Directeur de thèse Editeur : Rouen [France] : Institut National des Sciences Appliquées INSA Rouen Année de publication : 2021 Importance : 136 p. Format : 21 x 30 cm Note générale : bibliographie
Pour obtenir le grade de Docteur de Normandie Université, Spécialité InformatiqueLangues : Anglais (eng) Descripteur : [Vedettes matières IGN] Traitement d'image optique
[Termes IGN] apprentissage profond
[Termes IGN] classification du maximum a posteriori
[Termes IGN] classification non dirigée
[Termes IGN] classification par réseau neuronal convolutif
[Termes IGN] détection d'objet
[Termes IGN] reconstruction d'image
[Termes IGN] réseau antagoniste génératif
[Termes IGN] restauration d'imageIndex. décimale : THESE Thèses et HDR Résumé : (auteur) During the last decade, Generative Adversarial Networks (GANs) have caused a tremendous leap forward in image generation as a whole. Their ability to learn very complex, high-dimension distributions not only had a huge impact on the field of generative modeling, their influence extended to the general public at large. By being the first models able generate high-dimension photo-realistic images, GANs very quickly gained popularity as an image generation and photo manipulation technique. For example, their use as "filters" became common practice on social media, but they also allowed for the rise of Deepfakes, images that have been manipulated in order to fake the identity of a person. In this thesis, we explore the conditioning of Generative Adversarial Networks, that is influencing the generation process in order to control the content of a generated image. We focus on conditioning through auxiliary tasks, that is we explicitly implement additional objective to the generative model to complement the initial goal of learning the data distribution. First, we introduce generative modeling through several examples, and present the Generative Adversarial Networks framework. We discuss theoretical interpretations of GANs as well as its most prominent issues, notably the lack of stability during training of the model and the difficulty to generate diverse samples. We review classical techniques for conditioning GANs and propose an overview of recent approaches aiming to both solve the aforementioned issues and enhance the visual quality of the generated images. Afterwards, we focus on a specific generation task that requires conditioning : image reconstruction. In a nutshell, the problem consists in recovering an image from which we only have a handful of pixels available, usually around 0.5%. It stems from an application in geostatistics, namely the reconstruction of underground terrain from a reduced amount of expensive and difficult to obtain measurements. To do so, we propose to introduce an explicit auxiliary reconstruction task to the GAN framework which, in addition to a diversity-restoring technique, allows for the generation of high-quality images that respect the given measurements. Finally, we investigate a task of domain-transfer with generative models, specifically transferring images from the RGB color domain to the polarimetric domain. Polarimetric images bear hard constraints that directly stem from the physics of polarimetry. Leveraging on the cyclic-consistency paradigm, we extend the training of generative models with auxiliary tasks that push the generator towards enforcing the polarimetric constraints. We highlight that the approach manages to generate physically realistic polarimetric. Note de contenu : Introduction
1- Introduction to Generative Adversarial Networks
2- Image reconstruction as an auxiliary task to generative modeling
3- Domain-transfer with with auxiliary tasks for generative modeling
4- Conclusion and PerspectivesNuméro de notice : 28640 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Thèse française Note de thèse : Thèse de Doctorat : Informatique : Normandie : 2021 Organisme de stage : LITIS DOI : sans En ligne : https://tel.hal.science/tel-03517304/ Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=99721 Combining deep learning and mathematical morphology for historical map segmentation / Yizi Chen (2021)
Titre : Combining deep learning and mathematical morphology for historical map segmentation Type de document : Chapitre/Contribution Auteurs : Yizi Chen , Auteur ; Edwin Carlinet, Auteur ; Joseph Chazalon, Auteur ; Clément Mallet , Auteur ; Bertrand Duménieu , Auteur ; Julien Perret , Auteur Editeur : Berlin, Heidelberg, Vienne, New York, ... : Springer Année de publication : 2021 Collection : Lecture notes in Computer Science, ISSN 0302-9743 num. 12708 Projets : SODUCO / Perret, Julien Conférence : DGMM 2021, 1st International Joint Conference on Discrete Geometry and Mathematical Morphology 24/05/2021 27/05/2021 Uppsala Suède Proceedings Springer Importance : pp 79 - 92 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Géomatique
[Termes IGN] analyse diachronique
[Termes IGN] apprentissage profond
[Termes IGN] carte ancienne
[Termes IGN] chaîne de traitement
[Termes IGN] classification par réseau neuronal convolutif
[Termes IGN] détection d'objet
[Termes IGN] données maillées
[Termes IGN] morphologie mathématique
[Termes IGN] vectorisationRésumé : (auteur) The digitization of historical maps enables the study of ancient, fragile, unique, and hardly accessible information sources. Main map features can be retrieved and tracked through the time for subsequent thematic analysis. The goal of this work is the vectorization step, i.e., the extraction of vector shapes of the objects of interest from raster images of maps. We are particularly interested in closed shape detection such as buildings, building blocks, gardens, rivers, etc. in order to monitor their temporal evolution. Historical map images present significant pattern recognition challenges. The extraction of closed shapes by using traditional Mathematical Morphology (MM) is highly challenging due to the overlapping of multiple map features and texts. Moreover, state-of-the-art Convolutional Neural Networks (CNN) are perfectly designed for content image filtering but provide no guarantee about closed shape detection. Also, the lack of textural and color information of historical maps makes it hard for CNN to detect shapes that are represented by only their boundaries. Our contribution is a pipeline that combines the strengths of CNN (efficient edge detection and filtering) and MM (guaranteed extraction of closed shapes) in order to achieve such a task. The evaluation of our approach on a public dataset shows its effectiveness for extracting the closed boundaries of objects in historical maps. Numéro de notice : H2021-001 Affiliation des auteurs : UGE-LASTIG+Ext (2020- ) Autre URL associée : vers HAL Thématique : GEOMATIQUE Nature : Chapître / contribution nature-HAL : ChOuvrScient DOI : 10.1007/978-3-030-76657-3_5 Date de publication en ligne : 16/05/2021 En ligne : https://hal.science/hal-03101578v1 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=96739 Détection/reconnaissance d'objets urbains à partir de données 3D multicapteurs prises au niveau du sol, en continu / Younes Zegaoui (2021)
Titre : Détection/reconnaissance d'objets urbains à partir de données 3D multicapteurs prises au niveau du sol, en continu Type de document : Thèse/HDR Auteurs : Younes Zegaoui, Auteur ; Marc Chaumont, Directeur de thèse Editeur : Montpellier : Université de Montpellier Année de publication : 2021 Importance : 182 p. Format : 21 x 30 cm Note générale : bibliographie
Thèse présentée pour obtenir le grade de Docteur de l'Université de Montpellier, spécialité InformatiqueLangues : Français (fre) Descripteur : [Vedettes matières IGN] Lasergrammétrie
[Termes IGN] apprentissage profond
[Termes IGN] classification dirigée
[Termes IGN] classification orientée objet
[Termes IGN] détection d'objet
[Termes IGN] données lidar
[Termes IGN] données localisées 3D
[Termes IGN] extraction de traits caractéristiques
[Termes IGN] mobilier urbain
[Termes IGN] objet géographique urbain
[Termes IGN] segmentation sémantique
[Termes IGN] semis de points
[Termes IGN] zone urbaine denseIndex. décimale : THESE Thèses et HDR Résumé : (auteur) Le développement des dispositifs d'acquisition LiDAR mobiles terrestres, montés sur véhicule ou drone, rendent possible la numérisation de villes entières sous la forme de nuages de points tridimensionnels géo-référencés. L'exploitation de ces données par les gestionnaires de ville permettent le recensement ainsi que le suivi au cours du temps des objets urbains qu'ils soient fixes (lampadaires, abribus…), mobiles (containers de poubelle) ou naturels (arbres) afin de pouvoir intervenir en cas de disparition, déplacement, détérioration ou de danger potentiel. Cette approche nécessite d'être en mesure de traiter des grands nuages pouvant compter plusieurs centaines de millions de points et réunir des milliers d'objets. Il devient donc nécessaire d'automatiser les traitements appliqués aux nuages de points afin de pouvoir extraire et classer automatiquement les éléments qui correspondent à des objets urbains. La diversité ainsi que le grand nombre d'objets urbains présents dans les villes sont un réel défi pour le développement d'approches automatisées. Dans cette thèse, nous explorons la piste récente de l'apprentissage profond appliqué aux données non structurées pour réaliser la localisation et la reconnaissance automatique d'objets urbains dans un nuage de points 3D. En s'inspirant des avancées récentes permises par le réseau PointNet, nous proposons de réaliser un apprentissage supervisé directement à partir des nuages de points sans passer par des transformations intermédiaires. Nous avons ainsi développé une architecture neuronale 3D que nous avons basée sur une couche originale permettant simultanément de regrouper des points et d'en extraire des caractéristiques. A partir de cette architecture, nous présentons les résultats que nous avons obtenues sur la tâche de détection d'objets urbains dans des nuages de points LiDAR obtenus dans des rues de grandes villes. Note de contenu : 1- Introduction
2- Etat de l’art
3- Architecture par clustering
4- Application à la détection d’objets en milieu urbain
5- Conclusion
6- PerspectivesNuméro de notice : 24108 Affiliation des auteurs : non IGN Thématique : IMAGERIE/INFORMATIQUE Nature : Thèse française Note de thèse : thèse de Doctorat : Informatique : Montpellier : 2021 Organisme de stage : Laboratoire LIRMM DOI : sans En ligne : https://tel.hal.science/tel-03589031/ Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=100629 PermalinkExtraction of street pole-like objects based on plane filtering from mobile LiDAR data / Jingming Tu in IEEE Transactions on geoscience and remote sensing, vol 59 n° 1 (January 2021)PermalinkPermalinkPermalinkPermalinkPermalinkPermalinkObject detection using component-graphs and ConvNets with application to astronomical images / Thanh Xuan Nguyen (2021)PermalinkPerception de scène par un système multi-capteurs, application à la navigation dans des environnements d'intérieur structuré / Marwa Chakroun (2021)PermalinkStudy of an integrated pre-processing architecture for smart-imaging-systems, in the context of lowpower computer vision and embedded object detection / Luis Cubero Montealegre (2021)Permalink