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Dans ce travail, il s'agit d'etudier, de fabriquer et de calibrer un capteur de vision Omnidirectionnelle. En se basant sur des approches unifiees, nous adoptons un modele de formation des images a notre capteur que nous avons fabrique au sein de notre Ecole Nationale d' Ingenieur de Sousse. Nous avons par la suite procede du calibrage de ce capteur, c'est-a-dire, l'extraction des parametres permettant les passages 2D/3D et 3D/2D. Mots-cles Vision omnidirectionnelle, traitement d'image, CAO 3D, calibrage.
This thesis presents some contributions to the omnidirectional vision field. The domain is first introduced : central and non central cameras, geometric models and calibration ... Then, a new kind of omnidirectional camera is proposed, using an electronic sensor that provides the orientation of a standard camera to which it is connected. It is used to create omnidirectional oriented image mosaics. New methods for the central paracatadioptric camera are derived for its calibration, the line images detection and the estimation of its orientation. A general direct model for the catadioptric cameras with a quadric mirror is proposed and used to compute the image of lines, to reproject textures and for calibration purposes. Finally, a new omnidirectional 3D sensor is developped for the 3D acquisition of building interiors. Its calibration and reconstruction results are shown.
360 degree and spherical multi-cameras built by fixing together several consumer cameras become popular and are convenient for recent applications like immersive videos, 3D modeling and virtual reality. This type of cameras allows to include the whole scene in a single view.When the goal of our applications is to merge monocular videos together into one cylinder video or to obtain 3D informations from environment,there are several basic steps that should be performed beforehand.Among these tasks, we consider the synchronization between cameras; the calibration of multi-camera system including intrinsic and extrinsic parameters (i.e. the relative poses between cameras); and the rolling shutter calibration. The goal of this thesis is to develop and apply user friendly method. Our approach does not require a calibration pattern. First, the multi-camera is initialized thanks to assumptions that are suitable to an omnidirectional camera without a privileged direction:the cameras have the same setting (frequency, image resolution, field-of-view) and are roughly equiangular.Second, a frame-accurate synchronization is estimated from instantaneous angular velocities of each camera provided by monocular Structure-from-Motion.Third, both inter-camera poses and intrinsic parameters are refined using multi-camera Structure-from-Motion and bundle adjustment.Last, we introduce a bundle adjustment that estimates not only the usual parameters but also a subframe-accurate synchronization and the rolling shutter. We experiment in a context that we believe useful for applications (3D modeling and 360 videos):several consumer cameras or a spherical camera mounted on a helmet and moving along trajectories of several hundreds of meters or kilometers.
This book is an introduction to differential manifolds. It gives solid preliminaries for more advanced topics: Riemannian manifolds, differential topology, Lie theory. It presupposes little background: the reader is only expected to master basic differential calculus, and a little point-set topology. The book covers the main topics of differential geometry: manifolds, tangent space, vector fields, differential forms, Lie groups, and a few more sophisticated topics such as de Rham cohomology, degree theory and the Gauss-Bonnet theorem for surfaces. Its ambition is to give solid foundations. In particular, the introduction of “abstract” notions such as manifolds or differential forms is motivated via questions and examples from mathematics or theoretical physics. More than 150 exercises, some of them easy and classical, some others more sophisticated, will help the beginner as well as the more expert reader. Solutions are provided for most of them. The book should be of interest to various readers: undergraduate and graduate students for a first contact to differential manifolds, mathematicians from other fields and physicists who wish to acquire some feeling about this beautiful theory. The original French text Introduction aux variétés différentielles has been a best-seller in its category in France for many years. Jacques Lafontaine was successively assistant Professor at Paris Diderot University and Professor at the University of Montpellier, where he is presently emeritus. His main research interests are Riemannian and pseudo-Riemannian geometry, including some aspects of mathematical relativity. Besides his personal research articles, he was involved in several textbooks and research monographs.
Aeronomy, Part A is an attempt to make a comprehensive exposition of the processes in aeronomy, the study of composition, movement, and thermal balance of the upper regions of the planetary atmosphere. The text covers topics such as atmospheric regions and atmospheric density, the temperature and molecular mass of the atmosphere; the permanent constituents and the molecular and isotonic composition of the homosphere; and the transition from the homosphere to the heterosphere. Also covered are topics such as the temperature gradient and energies in the thermosphere, conditions at 200km and above 250km, solar radiation and ionization, and aeronomic reactions. The book is recommended for scientists, especially natural physicists, who would like to know more about the field of aeronomy and its advances.
Cet ouvrage, devenu célèbre sous son sigle MCSE, a déjà été utilisé par plus de 50 000 étudiants, chercheurs, professionnels. L'objectif est de lire et écrire des textes en anglais scientifique avec facilité et pertinence. L'ouvrage est conçu pour que l'apprenant devienne un véritable utilisateur de l'anglais. La méthode originale repose sur l'analyse des fonctions et structures nécessaires : measurement, frequency, comparison, modification, link words, time, cause and consequence, hypothesis, modality, purpose and process, impersonal forms, compound nouns and adjectives. Dans chaque unit, des tests d'auto-évaluation permettent de se situer et de construire son parcours de formation, d'abord en définissant ses objectifs à l'aide des key points et du lexis, puis, de façon plus personnalisée, en puisant dans les examples in context, checkpoints (back to basics, word web), web search, FAQs... MCSE est l'outil de base d'une méthode qui comprend aussi d'autres outils dans la même collection (Listening Comprehension for Scientiflc English et Speaking Skills in Scientitic English). L'ouvrage est destiné à tout apprenant de niveau baccalauréat qui désire acquérir une réelle compétence dans l'écriture et la lecture de textes en anglais scientifique.
Dr. Chun's Aerospace Power in the Twenty-First Century: A Basic Primer is a great start towards understanding the importance of aerospace power and its ability to conduct modern warfare. Aerospace power is continually changing because of new technology, threats, and air and space theories. However, many basic principles about aerospace power have stood the test of time and warfare. This book provides the reader with many of these time-tested ideas for consideration and reflection. Although Aerospace Power in the Twenty-First Century was written for future officers, individuals desiring a broad overview of aerospace power are invited to read, share, and discuss many of the ideas and thoughts presented here. Officers from other services will find that this introduction to air and space forces will give them a good grasp of aerospace power. More experienced aerospace leaders can use this book to revisit many of the issues that have affected air and space forces in the past and that might affect them in the future. Air Force officers will discover that Aerospace Power in the Twenty-First Century is a very timely and reflective resource for their professional libraries.