Advisors: Omar AIT-AIDER and François BERRY
Location: Institut Pascal ou domicile selon les contraintes sanitaires
Duration: 5 months
Salary: Internship grant (about 620€)
Keywords: Computer Vision, Depth sensing, Calibration, 3D reconstruction
Institut Pascal, UMR 6602, is a joint interdisciplinary research and training unit of 370 people, under the threefold supervision of Université Clermont Auvergne (UCA), the CNRS and SIGMA Clermont. ISPR (a unit of the Institut Pascal) focuses on multi-sensor perception, computer vision, mobile and industrial robots and embedded vision systems with hardware and software aspects.
A time-of-flight camera (ToF camera) is a range imaging camera system employing time-of-flight techniques to resolve distance between the camera and the subject for each point of the image, by measuring the round trip time of an artificial light signal provided by a laser or an LED. The simplest version of a time-of-flight camera uses light pulses or a single light pulse. The illumination is switched on for a very short time, the resulting light pulse illuminates the scene and is reflected by the objects in the field of view. The camera lens gathers the reflected light and images it onto the sensor or focal plane array.
ToF measurements are affected by different sources of noise such as simplification in the calculation of depth, the variability of the reflectivity of different objects or lighting conditions. In addition, their low resolution reduces the quality of calibration of their intrinsic parameters. The proposed topic therefore aims to investigate the optimal configuration combining several ToF cameras in order to compensate for the lack of precision of each of them and to get the most accurate measurement of the 3D scenes. The work will start by implementing a method for precise calibration of the intrinsic parameters and depth of a ToF camera. Calibration of the multi-camera system and multi-view 3D reconstruction using both image and depth information will then be addressed.
Required skills: Matlab and basic computer vision skills are expected. Skills in multi-view cameras and 3D reconstruction will be appreciated.
(c) GdR 720 ISIS - CNRS - 2011-2020.