E. Mouaddib - Profile on Academia.edu (original) (raw)

Papers by E. Mouaddib

Mise en correspondance de points 3D obtenus avec une grande 'base-line

We present a survey of the most significant techniques, used in the last few years, concerning th... more We present a survey of the most significant techniques, used in the last few years, concerning the coded structured light methods employed to get 3D information. In fact, depth perception is one of the most important subjects in computer vision. Stereovision is an attractive and widely used method, but, it is rather limited to make 3D surface maps, due to the correspondence problem. The correspondence problem can be improved using a method based on structured light concept, projecting a given pattern on the measuring surfaces. However, some relations between the projected pattern and the reflected one must be solved. This relationship can be directly found codifying the projected light, so that, each imaged region of the projected pattern carries the needed information to solve the correspondence problem.

Indexing and alignment of 3-D objects using geometric quasi-invariants

Robotica, 1998

ABSTRACT

A robust-coded pattern projection for dynamic 3D scene measurement

Pattern Recognition Letters, 1998

This paper presents a new coded structured light pattern which permits to solve the correspondenc... more This paper presents a new coded structured light pattern which permits to solve the correspondence problem by a single shot and without using geometrical constraints. The pattern is composed by the projection of a grid made by coloured slits in such a way that each slit with its two neighbours appears only once in the pattern. The technique proposed permits

Optical flow estimation from multichannel spherical image decomposition

Computer Vision and Image Understanding, 2011

The problem of optical flow estimation is largely discussed in computer vision domain for perspec... more The problem of optical flow estimation is largely discussed in computer vision domain for perspective images. It was also proven that, in terms of optical flow analysis from these images, we have difficulty distinguishing between some motion fields obtained with little camera motion. The omnidirectional cameras provided images with large filed of view. These images contain global information about motion

An overview of the advantages and constraints of coded pattern projection techniques for autonomous navigation

The absolute necessity of obtaining 3D information of structured and unknown environments in auto... more The absolute necessity of obtaining 3D information of structured and unknown environments in autonomous navigation reduce considerably the set of sensors that can be used. The necessity to know, at each time, the position of the mobile robot with respect to the scene is indispensable. Furthermore, this information must be obtained in the least computing time. Stereo vision is an

Time to contact estimation on paracatadioptric cameras

ABSTRACT Time to contact or time to collision (TTC) is the time available to a robot before reach... more ABSTRACT Time to contact or time to collision (TTC) is the time available to a robot before reaching an object. In this paper, we propose to estimate this time using a catadioptric camera embedded on the robot. Indeed, whereas a lot of works have shown the utility of this kind of cameras in robotic applications (monitoring, localisation, motion,...), a few works deal with the problem of time to contact estimation on it. Thus, in this paper, we propose a new work which allows to define and to estimate the TTC on catadioptric camera. This method will be validated on simulated and real data.

Adapted Approach for Omnidirectional Egomotion Estimation

ABSTRACT

Photometric based 3D Registration

Mise en correspondance de points 3D obtenus avec une grande 'base-line

We present a survey of the most significant techniques, used in the last few years, concerning th... more We present a survey of the most significant techniques, used in the last few years, concerning the coded structured light methods employed to get 3D information. In fact, depth perception is one of the most important subjects in computer vision. Stereovision is an attractive and widely used method, but, it is rather limited to make 3D surface maps, due to the correspondence problem. The correspondence problem can be improved using a method based on structured light concept, projecting a given pattern on the measuring surfaces. However, some relations between the projected pattern and the reflected one must be solved. This relationship can be directly found codifying the projected light, so that, each imaged region of the projected pattern carries the needed information to solve the correspondence problem.

Indexing and alignment of 3-D objects using geometric quasi-invariants

Robotica, 1998

ABSTRACT

A robust-coded pattern projection for dynamic 3D scene measurement

Pattern Recognition Letters, 1998

This paper presents a new coded structured light pattern which permits to solve the correspondenc... more This paper presents a new coded structured light pattern which permits to solve the correspondence problem by a single shot and without using geometrical constraints. The pattern is composed by the projection of a grid made by coloured slits in such a way that each slit with its two neighbours appears only once in the pattern. The technique proposed permits

Optical flow estimation from multichannel spherical image decomposition

Computer Vision and Image Understanding, 2011

The problem of optical flow estimation is largely discussed in computer vision domain for perspec... more The problem of optical flow estimation is largely discussed in computer vision domain for perspective images. It was also proven that, in terms of optical flow analysis from these images, we have difficulty distinguishing between some motion fields obtained with little camera motion. The omnidirectional cameras provided images with large filed of view. These images contain global information about motion

An overview of the advantages and constraints of coded pattern projection techniques for autonomous navigation

The absolute necessity of obtaining 3D information of structured and unknown environments in auto... more The absolute necessity of obtaining 3D information of structured and unknown environments in autonomous navigation reduce considerably the set of sensors that can be used. The necessity to know, at each time, the position of the mobile robot with respect to the scene is indispensable. Furthermore, this information must be obtained in the least computing time. Stereo vision is an

Time to contact estimation on paracatadioptric cameras

ABSTRACT Time to contact or time to collision (TTC) is the time available to a robot before reach... more ABSTRACT Time to contact or time to collision (TTC) is the time available to a robot before reaching an object. In this paper, we propose to estimate this time using a catadioptric camera embedded on the robot. Indeed, whereas a lot of works have shown the utility of this kind of cameras in robotic applications (monitoring, localisation, motion,...), a few works deal with the problem of time to contact estimation on it. Thus, in this paper, we propose a new work which allows to define and to estimate the TTC on catadioptric camera. This method will be validated on simulated and real data.

Adapted Approach for Omnidirectional Egomotion Estimation

ABSTRACT

Photometric based 3D Registration