| This PhD Thesis concerns the application of computer vision techniques to natural underwater images. Recently, advances in projective geometry have given a strong formalism to computer vision reconstruction algorithms and has allowed real improvements. Nevertheless, many algorithms may have problems with natural scenes. We present here a complete methodology to make a projective reconstruction of natural scenes from underwater images taken with one uncalibrated camera. In the first step, we are interested in extracting robust features which is a necessary step of image processing. Due to the particular scenes we observe (no geometric simple forms, high noise, no knowledge of the environment), we choose a robust implementation of a point detector based... |
