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)
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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|Item Type:||Conference Paper|
|Keywords:||thermal-infrared, monocular, SLAM, navigation, hand-held|
|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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