Les travaux de cette thèse s’intéressaient à l’utilisation des caméras catadioptriques pour palier au champ de vision réduit des caméras conventionnelles. A cause de la complexité de la géométrie de formation des images omnidirectionnelles, l’adaptation des outils de traitement classiques à ce type d’images était une tâche inévitable. Dans cette perspective nous avons présenté une étude se rapportant à l’élaboration d’un nouvel outil de traitement des images sphériques. En fait, cet outil représente un opérateur de détection de contours, basé sur un modèle sphérique de charges électriques virtuelles. La comparaison de ces performances aux autres opérateurs classiques, a mis en évidence significativement l’amélioration apportée. Un tel outil pourrait servir de base pour des applications de surveillance et de reconnaissance d’objets.
En guise d’application, les contributions et les concepts proposés ont permis le développement de nouvelles techniques pour l'utilisation des capteurs de vision omnidirectionnelle dans le domaine de la navigation. Ainsi, nous avons conçu et réalisé un robot mobile nommé ESCALADE360. La conception de cette plateforme robotique faisait partie de notre projet de recherche qui vise à développer et tester de nouveaux algorithmes pour le suivi d'objets et l’asservissement tout en utilisant des caméras omnidirectionnelles. Précisément nous avons abordé le problème de la détection en temps réel de cible mobile, et le suivi dans des environnements dynamiques. Dans ce scénario, nous avons proposé une technique basée sur la détection des couleurs moins sensible à la variation de l'éclairement de l'environnement. Les résultats expérimentaux indiquent que la méthode proposée basée sur l’invariance chromatique peut effectivement distinguer et suivre des cibles mobiles en environnement intérieur et extérieur.
Par ailleurs, nous avons présenté un nouveau concept de suiveur solaire basé sur la technologie de la vision par ordinateur. Ce suiveur utilise un système d’imagerie omnidirectionnelle pour fournir des informations précises sur la position du soleil. Le suivi se fait en temps réel, indépendamment des coordonnées spatio- temporelles avec moins de sensibilité aux conditions météorologiques tout en offrant un large champ de suivi. Plusieurs expériences ont été effectuées pour comparer l'efficacité de la production d'électricité de ce suiveur solaire avec un panneau fixe ainsi qu’un suiveur classique. La fiabilité de ce concept a été confirmée. La richesse des informations obtenues par le module d’acquisition peut être exploitée non seulement pour le suivi du spectre solaire, mais aussi pour la prédiction d’un éventuel recouvrement nuageux ce qui permettra de gérer intelligemment une installation photovoltaïque dans le futur.
Dans un second volet dédié à la stéréovision omnidirectionnelle, nous avons mené une étude des sections coniques ainsi qu’une prospection des systèmes catadioptriques existants. Au terme de cette étude, nous avons présenté la conception de deux nouveaux systèmes omnistéréo catadioptriques à miroirs sphériques et à configuration verticale. Deux modèles de triangulation passive ont
été développés pour l’estimation de la profondeur. Le fondement mathématique de la variation de l’erreur sur la profondeur avait également été présenté. Des séquences d’expérimentation ont été réalisées pour évaluer les concepts proposés. En perspective, nous envisageons exploiter le deuxième capteur omnistéréo proposé comme module d’acquisition embarqué sur la plateforme robotique ESCALADE360 pour étendre le champ d’application de suivi aux environnements dynamiques avec la capacité de perception de la profondeur. Cet axe de recherche peut être déployé dans le domaine de la localisation et la reconstruction 3D simultanées.
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