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Navigation référencée images de terrain by Sistiaga-M

Navigation référencée images de terrain

by Sistiaga-M
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Book cover type: Paperback
  • ISBN13: 9783841799692
  • Binding: Paperback
  • Subject: N/A
  • Publisher: Univ Europeenne
  • Publisher Imprint: Univ Europeenne
  • Publication Date:
  • Pages: 252
  • Original Price: GBP 55.0
  • Language: French
  • Edition: N/A
  • Item Weight: 372 grams
  • BISAC Subject(s): Automotive

La navigation référencée images de terrain est un procédé de positionnement qui permet la localisation du véhicule dans une carte globale représentant la zone de travail. Pour cela, l'engin est équipé de capteurs à partir desquels il peut créer une image de son environnement local. Cette image locale est comparée à une image globale de terrain préalablement mise en mémoire. Si une correspondance est trouvée, le véhicule peut calculer sa position et son orientation dans la zone cartographiée. Ce travail présente une méthode complète de navigation référencée images de terrain pour engins sous-marins. La technique proposée utilise aussi bien des images de profondeur acquises par sondeur acoustique que des images vidéo acquises par caméra sous-marine. Tout d'abord, un lissage et une segmentation sont nécessaires pour extraire de ces images des points caractéristiques. Des attributs différentiels, invariants à la translation et à la rotation, sont calculés en ces points pour réaliser l'appariement des images. Un algorithme itératif estime la position et l'orientation de l'image locale ainsi que le changement d'échelle.

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