Télétravail Robotisé et Réalité Augmentée : Application à la Téléopération via Internet. (Robotised Telework and Augmented Reality : Application to Teleoperation via Internet)

La telepresence, ou la presence virtuelle, devient de plus en plus courante grace a l'evolution technologique, impliquant une ouverture du potentiel du teletravail. Ce dernier est fortement lie a la virtualite et a la telepresence, donc aussi a la robotique et a l'informatique, autant qu'aux communications. Cette these etudie les methodes et les outils necessaires a la realisation d'un systeme de teletravail via internet. Dans un premier temps, nous presentons les tendances technologiques qui ont contribue a l'evolution du teletravail. Ensuite, nous nous interessons a la teleoperation et la telerobotique, nous verrons comment les techniques de la realite virtuelle et augmentee ont contribue a percer certains verrous, lies generalement a la distance qui separe les deux sites maitre et esclave. Dans un deuxieme temps, nous nous interessons a l'assistance au teletravail via internet. Nous etudions les methodes et les outils necessaires a la realisation des guides virtuels portables et parametrables en proposant ainsi le formalisme implante. Dans un troisieme temps, nous etudions les methodes utiles pour un controle en realite augmentee (modelisation d'environnement et calibration de la camera et du robot). Nous presentons la methode retenue pour le teletravail via internet. Ensuite, nous presentons notre systeme experimental de teletravail baptise ariti (augmented reality interface for telerobotic applications via internet). Dans un quatrieme temps, nous presentons deux applications, une pour la telemanipulation et l'autre, pour la teleoperation d'un robot mobile. Enfin, dans un cinquieme temps, nous evaluons quelques taches de teleoperation ainsi que les methodes de compression d'image video utilisees. Nous montrons d'une part la stabilite du systeme ariti vis a vis des differentes connexions, locale, moyenne et grande distance. D'autre part, comment le retour predictif distribue permet a plusieurs operateurs de teletravailler en cooperation.

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