Localisation basée vision à partir de caractéristiques discriminantes issues de données visuelles hétérogènes

par Nathan Piasco

Projet de thèse en Instrumentation et informatique de l'image

Thèses en préparation à Bourgogne Franche-Comté , dans le cadre de SPIM - Sciences Physiques pour l'Ingénieur et Microtechniques , en partenariat avec ImViA - Laboratoire d'Imagerie et Vision Artificielle (laboratoire) depuis le 18-10-2016 .


  • Résumé

    In this thesis, we focus on the localization of the agent/user, and propose to study vision-based methods from a previously obtained 3D map of the scene. This 3D map contains a 3D reconstruction of the scene as well as RGB and semantic information. We assume that the 3D map is coded as a set of Spherical Images, a compact representation with RGB, depth and semantic information, well positioned in the environment.

  • Titre traduit

    Vision-based localization with discriminative features from heterogeneous visual data


  • Résumé

    In this thesis, we focus on the localization of the agent/user, and propose to study vision-based methods from a previously obtained 3D map of the scene. This 3D map contains a 3D reconstruction of the scene as well as RGB and semantic information. We assume that the 3D map is coded as a set of Spherical Images, a compact representation with RGB, depth and semantic information, well positioned in the environment.