DocumentCode :
1662858
Title :
Hand-held monocular SLAM in thermal-infrared
Author :
Vidas, Stephen ; Sridharan, Sridha
Author_Institution :
Image & Video Res. Lab., QUT, Brisbane, QLD, Australia
fYear :
2012
Firstpage :
859
Lastpage :
864
Abstract :
Thermal-infrared imagery is relatively robust to many of the failure conditions of visual and laser-based SLAM systems, such as fog, dust and smoke. The ability to use thermal-infrared video for localization is therefore highly appealing for many applications. However, operating in thermal-infrared is beyond the capacity of existing SLAM implementations. This paper presents the first known monocular SLAM system designed and tested for hand-held use in the thermal-infrared modality. The implementation includes a flexible feature detection layer able to achieve robust feature tracking in high-noise, low-texture thermal images. A novel approach for structure initialization is also presented. The system is robust to irregular motion and capable of handling the unique mechanical shutter interruptions common to thermal-infrared cameras. The evaluation demonstrates promising performance of the algorithm in several environments.
Keywords :
SLAM (robots); feature extraction; image texture; infrared imaging; mobile robots; robot vision; flexible feature detection layer; hand-held monocular SLAM; hand-held use testing; laser-based SLAM systems; low-texture thermal images; monocular SLAM system; robust feature tracking; thermal-infrared imagery; thermal-infrared modality; thermal-infrared video; visual failure conditions; Cameras; Delays; Detectors; Feature extraction; Simultaneous localization and mapping; Tracking;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Automation Robotics & Vision (ICARCV), 2012 12th International Conference on
Conference_Location :
Guangzhou
Print_ISBN :
978-1-4673-1871-6
Electronic_ISBN :
978-1-4673-1870-9
Type :
conf
DOI :
10.1109/ICARCV.2012.6485270
Filename :
6485270
Link To Document :
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