Paire stéréoscopique Panomorphe pour la reconstruction 3D d'objets d'intérêt dans une scène
|Advisor:||Thibault, Simon; Laurendeau, Denis|
|Abstract:||A wide variety of panoramic lenses are available on the market. Exhibiting interesting characteristics, the Panomorph lens is a panoramic anamorphic optical system. Its highly non-uniform distortion profile creates areas of enhanced magnification across the field of view. For mobile robotic applications, a stereoscopic system for 3D reconstruction of objects of interest could greatly benefit from the unique features of these special lenses. Such a stereoscopic system would provide general information describing the environment surrounding its navigation. Moreover, the areas of enhanced magnification give access to smaller details. However, the downfall is that Panomorph lenses are difficult to calibrate, and this is the main reason why no research has been carried out on this topic. The main goal of this thesis is the design and development of Panomorph stereoscopic systems as well as the evaluation of their performance. The calibration of the lenses was performed using plane targets and a well-established calibration toolbox. In addition, new mathematical techniques aiming to restore the symmetry of revolution in the image and to make the focal length uniform over the field of view were developed to simplify the calibration process. First, the field of view was divided into zones exhibiting a small variation of the focal length and the calibration was performed for each zone. Then, the general calibration was performed for the entire field of view. The results showed that the calibration of each zone does not lead to a better 3D reconstruction than the general calibration method. However, this new approach allowed a study of the quality of the reconstruction over the entire field of view. Indeed, it showed that is it possible to achieve good reconstruction for all the zones of the field of view. In addition, the results for the mathematical techniques used to restore the symmetry of revolution were similar to the results obtained with the original data. These techniques could therefore be used to calibrate Panomorph lenses with calibration toolboxes that do not have two degrees of freedom relating to the focal length. The study of the performance of stereoscopic Panomorph systems also highlighted important factors that could influence the choice of lenses and configuration for similar systems. The challenge met during the calibration of Panomorph lenses led to the development of a virtual calibration technique that used an optical design software and a calibration toolbox. With this technique, simulations reproducing the operating conditions were made to evaluate their impact on the calibration parameters. The quality of 3D reconstruction of a volume was also evaluated for various calibration conditions. Similar experiments would be extremely tedious to perform in the laboratory but the results are quite meaningful for the user. The virtual calibration of a traditional lens also showed that the mean reprojection error, often used to judge the quality of the calibration process, does not represent the quality of the 3D reconstruction. It is then essential to have access to more information in order to asses the quality of a lens calibration.|
|Document Type:||Thèse de doctorat|
|Open Access Date:||24 April 2018|
|Collection:||Thèses et mémoires|
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