Extraction d'un graphe de navigabilité à partir d'un nuage de points 3D enrichis

6533b871fe1ef96bd12d0c85

RESEARCH PRODUCT

Extraction d'un graphe de navigabilité à partir d'un nuage de points 3D enrichis

Imeen Ben Salah Sébastien Kramm Cédric Demonceaux Pascal Vasseur

subject

vision [INFO.INFO-CV] Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV]Tone Navigabilité Mapping [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO][ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO]Exposure Fusion [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO][INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV]nuage 3D perception Retinex

description

International audience; Ce travail se place dans le cadre général du projet ANR pLaTINUM lié à la navigation autonome et plus parti-culièrement à la génération de cartes pour la navigation basée perception. Il consiste à développer une nouvelle méthode pour résumer une carte 3D (un nuage dense de points 3D) et extraire un graphe de navigabilité facilitant l'utilisation de cette carte par des systèmes de navigation à ressources matérielles limitées (smart-phones, voitures, robots.. .). Cette méthode vise à ex-traire les régions les plus saillantes de l'environnement étudié afin de construire une carte récapitulative. Ce processus de résumé de carte basé sur la vision est appliqué d'une façon totalement automatique utilisant les informations photométriques, géométriques et sémantiques de l'environnement étudié.

year	journal	country	edition	language
2017-06-12

https://hal.archives-ouvertes.fr/hal-01866618/document

PEPhysical Sciences and Engineering
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