TY - GEN
T1 - Computing Thermal Point Clouds by Fusing RGB-D and Infrared Images: From Dense Object Reconstruction to Environment Mapping
AU - Zhang, Tanhao
AU - Hu, Luyin
AU - Sun, Yuxiang
AU - Li, Lu
AU - Navarro-Alarcon, David
N1 - Funding Information:
This work is supported in part by the Research Grants Council under grant 15212721, and in part by the Jiangsu Industrial Technology Research Institute Collaborative Research Program Scheme under grant ZG9V.
Publisher Copyright:
© 2022 IEEE.
PY - 2022/12
Y1 - 2022/12
N2 - Compared with 2D thermal images, visualizing the temperature of objects with their corresponding 3D surfaces provides a more intuitive way to perceive the environment. In this paper, we present an integrated system for large-scale and real-time 3D thermographic reconstruction through fusion of visible, infrared and depth images. The system is composed of an RGB-D and a thermal camera, whose image measurements are aligned with respect to the same coordinate frame. A thermal direct method based on infrared features is proposed and integrated into state-of-art localization algorithms for generating reliable 3D thermal point clouds. The reported experimental results demonstrate that our approach can be used for 3D reconstruction of small and large scale environments based on dual spectrum 3D information.
AB - Compared with 2D thermal images, visualizing the temperature of objects with their corresponding 3D surfaces provides a more intuitive way to perceive the environment. In this paper, we present an integrated system for large-scale and real-time 3D thermographic reconstruction through fusion of visible, infrared and depth images. The system is composed of an RGB-D and a thermal camera, whose image measurements are aligned with respect to the same coordinate frame. A thermal direct method based on infrared features is proposed and integrated into state-of-art localization algorithms for generating reliable 3D thermal point clouds. The reported experimental results demonstrate that our approach can be used for 3D reconstruction of small and large scale environments based on dual spectrum 3D information.
UR - http://www.scopus.com/inward/record.url?scp=85147327982&partnerID=8YFLogxK
U2 - 10.1109/ROBIO55434.2022.10011817
DO - 10.1109/ROBIO55434.2022.10011817
M3 - Conference article published in proceeding or book
AN - SCOPUS:85147327982
T3 - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
SP - 1707
EP - 1714
BT - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
Y2 - 5 December 2022 through 9 December 2022
ER -