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Hand-held monocular SLAM in thermal-infrared

Vidas, Stephen & Sridharan, Sridha (2012) Hand-held monocular SLAM in thermal-infrared. In 12th International Conference on Control, Automation, Robotics and Vision (ICARCV 2012), 5 - 7 December 2012, Guangzhou Baiyun International Convention Center, Guangzhou, China. (In Press)

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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.

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ID Code: 53486
Item Type: Conference Paper
Keywords: thermal-infrared, monocular, SLAM, navigation, hand-held
DOI: 10.1109/ICARCV.2012.6485270
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000)
Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100)
Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Computer Vision (080104)
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2012 IEEE
Copyright Statement: This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible
Deposited On: 06 Sep 2012 12:55
Last Modified: 23 Apr 2013 16:49

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