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Acquisition et reconstruction de données 3D denses sous-marines en eau peu profonde par des robots d'exploration

Abstract : Our planet is mostly covered by seas and oceans. However, our knowledge of the seabed is far more restricted than that of land surface. In this thesis, we seek to develop a system dedicated to precise thematic mapping to obtain a dense point cloud of an underwater area on demand by using three-dimensional reconstruction. The complex nature of this type of system leads us to favor a multidisciplinary approach. We will examine in particular the issues raised by studying small shallow water areas on the scale of individual objects. The first problems concern the effective in situ acquisition of stereo pairs with logistics adapted to the sizes of the observed areas: for this, we propose an agile, affordable microsystem which is sufficiently automated to provide reproducible and comparable data. The second set of problems relates to the reliable extraction of three-dimensional information from the acquired data: we outline the algorithms we have developed to take into account the particular characteristics of the aquatic environment (such as its dynamics or its light absorption). We therefore discuss in detail the issues encountered in the underwater environment concerning dense matching, calibration, in situ acquisition, data registration and redundancy.
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Submitted on : Monday, July 10, 2017 - 10:45:23 AM
Last modification on : Friday, July 31, 2020 - 10:44:09 AM
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  • HAL Id : tel-01558888, version 1


Loïca Avanthey. Acquisition et reconstruction de données 3D denses sous-marines en eau peu profonde par des robots d'exploration. Traitement des images [eess.IV]. Télécom ParisTech, 2016. Français. ⟨NNT : 2016ENST0055⟩. ⟨tel-01558888⟩



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