Perception multicapteur : Etalonnage extrinsèque de caméra 3D, télémètre laser et caméra conventionnelle : Application au déplacement autonome et téléopéré d'un robot mobile

Abstract : This work concerns multisensor perception field of study for indoor mobile robotics and especially treats the use of low cost 3D cameras together with inboard perception system of the robot (usually laser telemeter and conventionnal cameras). Each independent sensor is suffering from important weaknesses as limited field of view for low cost camears or only planar detection for laser telemeter. Using 3D camera in addition to laser telemeter allows tod etect obstacles not detected by laser telemeter but keeps the advantage of the wise field of view of common laser telemeters. 3D camears are also very useful to add visual augmentations on visual data in teleoperation control interfaces.Multisensor perception based on laser telemeter, 3D camera and conventionnal camera is only possible when extrinsic parameters are accuratly (depending on application) known. But not only accurate, the calibration process has to be simple enough to be repeatable particularly whens sensors are fixed. Calibration processes have to be executed regularly because of menanical slack. The robotic community is usually using approximative calibration because calibration is boring. In this work, we propose four new methods for extrinsic calibration. Two of these methods have been conducted to improve significantly teh simplicity and usability of calibration processes.
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Jean-Clement Devaux. Perception multicapteur : Etalonnage extrinsèque de caméra 3D, télémètre laser et caméra conventionnelle : Application au déplacement autonome et téléopéré d'un robot mobile. Automatique / Robotique. Université d'Evry-Val-d'Essonne, 2014. Français. ⟨tel-01758302⟩

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