test_moissonnage_selune
type: Agent

Constrained beam adjustment as a framework for unifying location methods : application to augmented reality on 3D objects
type: Dataset
contact point: Organization
  fn: CCSD
keyword: simultaneous-localization-and-mapping
keyword: constrained-slam
keyword: augmented-reality
keyword: theses
keyword: spiotherengineering-sciences-physicsother
keyword: infoeu-reposemanticsdoctoralthesis
keyword: slam-contraint
keyword: realite-augmentee
keyword: constrained-bundle-adjustment
keyword: model-based-tracking
keyword: ajustement-de-faisceaux-contraint
keyword: localisation-et-cartographie-simultanees-par-vision
keyword: vision-par-ordinateur
keyword: suivi-base-modele
keyword: computer-vision
landing page: https://theses.hal.science/tel-00881206
description: This thesis tackles the problem of real time location of a monocular camera. In the literature, there are different methods which can be classified into three categories. The first category considers a camera moving in a completely unknown environment (SLAM). This method performs an online reconstruction of the observed primitives in the images and uses this reconstruction to estimate the location of the camera. The two other categories of methods estimate the location of the camera with respect to a 3D object in the scene. The estimation is based on an a priori knowledge of a model of the object (Model-based). One of these two methods uses only the information of the 3D model of the object to locate the camera. The other method may be considered as an intermediary between the SLAM and Model-based approaches. It consists in locating the camera with respect to the object of interest by using, on one hand the 3D model of this object, and on the other hand an online reconstruction of the primitives of the latter. This last online reconstruction can be regarded as an update of the initial 3D model (Model-based with update). Each of these methods has advantages and disadvantages. In the context of this thesis, we propose a solution in order to unify all these localization methods in a single framework referred to as the constrained SLAM, by taking parts of their benefits and limiting their disadvantages. We, particularly, consider that the camera moves in a partially known environment, i.e. for which a 3D model (geometric or photometric) of a static object in the scene is available. The objective is then to accurately estimate the pose (position and orientation) of the camera with respect to this object. The absolute information provided by the 3D model of the object is used to improve the localization of the SLAM by directly including this additional information in the bundle adjustment process. In order to manage a wide range of 3D objets and scenes, various types of c…
identifier: NNT: 2013CLF22343
issued: 2026-05-09T02:45:50.860888
language: fr
modified: 2026-05-09T02:45:50.860894

Constrained beam adjustment as a framework for unifying location methods : application to augmented reality on 3D objects
type: Distribution
access URL: https://theses.hal.science/tel-00881206
format: HTML
issued: 2026-05-09T02:45:50.886302
modified: 2026-05-09T02:45:50.829174