logo EDITE Bertrand GRANADO
Identité
Bertrand GRANADO
État académique
Thèse soutenue le 1998-11-01
Titulaire d'une HDR (ou équivalent) 2006-06-01
Laboratoire: personnel permanent
Direction de thèses (depuis 2007)
1
Encadrement de thèses (depuis 2007)
1
Propositions de sujets de thèse
Productions scientifiques
978 1 4244 7897 2
3-D object recognition based on SVM and stereo-vision: Application in endoscopic imaging
In this paper we focus on the recognition of threedimensional objects captured by an active stereo vision sensor. The study is related to our research project Cyclope, this embedded sensor based on active stereo-vision approach allows real time 3D objects reconstruction. Our medical application requires differentiation between hyperplastic and adenomatous polyps during 3D endoscopic imaging. The detection algorithm consists of SVM classifier trained on robust feature descriptors of a surfacic 3D point cloud extracted from the surface of studied object. We compared our feature extraction method with others. Experimental results were encouraging and show correct classification rate of approximately 97%. The work contains many techniques concerning image processing and system calibration and provides detailed statistics about the detection rate and the computing complexity.
International Conference of Soft Computing and Pattern Recognition (SoCPaR), 2010 2010
edite:1332792491780
Prototype of Video Endoscopic Capsule with 3D imaging capabilities
Wireless video capsules can now carry out gastroenterological examinations. The images make it possible to analyze some diseases during postexamination, but the gastroenterologist could make a direct diagnosis if the video capsule integrated vision algorithms. The first step toward in situ diagnosis is the implementation of 3-D imaging techniques in the video capsule. By transmitting only the diagnosis instead of the images, the video capsule autonomy is increased. This paper focuses on the Cyclope project, an embedded active vision system that is able to provide 3-D and texture data in real time. The challenge is to realize this integrated sensor with constraints on size, consumption, and processing, which are inherent limitations of the video capsule. We present the hardware and software development of a wireless multispectral vision sensor which enables the transmission of the 3-D reconstruction of a scene in real time. An FPGA-based prototype has been designed to show the proof of concept. Experiments in the laboratory, in vitro, and in vivo on a pig have been performed to determine the performance of the 3-D vision system. A roadmap towardthe integrated system is set out.
Vol. 4, No. 4, pp. 239-249 2010
978 1 4244 4123 5
SVM based colon polyps classifier in a wireless active stereo endoscope
This work focuses on the recognition of three-dimensional colon polyps captured by an active stereo vision sensor. The detection algorithm consists of SVM classifier trained on robust feature descriptors. The study is related to Cyclope, this prototype sensor allows real time 3D object reconstruction and continues to be optimized technically to improve its classification task by differentiation between hyperplastic and adenomatous polyps. Experimental results were encouraging and show correct classification rate of approximately 97%. The work contains detailed statistics about the detection rate and the computing complexity. Inspired by intensity histogram, the work shows a new approach that extracts a set of features based on depth histogram and combines stereo measurement with SVM classifiers to correctly classify benign and malignant polyps.
Engineering in Medicine and Biology Society (EMBC), 2010 Annual International Conference of the IEEE 2010
edite:1332792520934
A Multishutter Time Sensor for Multispectral Imaging in a 3-D Reconstruction Integrated Sensor
The work presented here is related to Cyclope, an integrated active 3-D vision system. The challenge is to realize an integrated sensor which achieve real-time depth vision with constraints on size, consumption and computational resources. In this paper, we present acquisition method which allows to grab both texture and IR pattern images at least at 25 frames/s. The method uses a pulsed IR laser pattern projector and CMOS image sensor with programmable integration time. This sensor is realized in a standard CMOS technology and does not envolve any special optical filtering. We present some experimental results with the realization of a large scale demonstrator using a SOPC prototyping board and the said image sensor.
Vol. 9, No. 4, pp. 478-484 2009
edite:1332792523957
A system for an accurate 3D reconstruction in video endoscopy capsule
Vol. 2009, pp. Article
ID
: 716317 2009
edite:13327925341028
Cyclope:
 Une
 méthode
 de
 discrimination
 spectrale
 innovante
 dans
 le
 cadre
 d’un
 capteur
 de
 vision
 3D
 intégré
 temps
 réel
 sans
 fils
22ème
 Colloque
 GRETSI, Dijon, France 2009