Localisation et cartographie simultanées en vision monoculaire et en temps réel basé sur les structures planes

Our work deals with computer vision. The problem of augmented reality implies a real time estimation of the relive position between camera and scene. This thesis presents a complete method of pose tracking that works with planar structures which are abundant in indoor and outdoor urban environments. The pose tracking is done using a low cost camera and an inertial sensor. Our approach is to use the planes to make the pose estimation easier. Homographies computed by an image tracking algorithm presented in this document are used as measurements for our Simultaneous Localization And Mapping method. This SLAM method permits a long term and robust pose tracking by propagating the measurements uncertainties. Works about selection of regions to track and their corresponding plane parameters initialization are also described in this thesis. Numerical and image based experiments shows the validity of our approach.