Augmented reality : the fusion of vision and navigation

Abstract : The purpose of this thesis is to study algorithms for visual augmented reality. Different requirements of such an application are addressed, with the constraint that the use of a monocular system makes depth and linear motion indistinguishable. The real-time realistic insertion of virtual objects in images of a real arbitrary environment yields the need for a dense Threedimensional (3D) perception of this environment on one hand, and a precise localization of the camera on the other hand. The first requirement is studied under an assumption of known dynamics, and the second under the assumption of known depth: both assumptions are practically realizable. Both problems are posed in the context of a spherical camera model, which yields SO(3)-invariant dynamical equations for light intensity and depth. The study of theoreticalobservability requires differential geometry tools for the Riemannian unit sphere. Practical implementation on a system is presented and experimental results demonstrate the ability to localize a camera in a unknown environment while precisely mapping this environment.
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Nadège Zarrouati-Vissière. Augmented reality : the fusion of vision and navigation. Other [cs.OH]. Ecole Nationale Supérieure des Mines de Paris, 2013. English. ⟨NNT : 2013ENMP0061⟩. ⟨pastel-00961962⟩

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