3D thermal mapping of building interiors using an RGB-D and thermal camera

Vidas, Stephen, Moghadam, Peyman, & Bosse, Michael (2013) 3D thermal mapping of building interiors using an RGB-D and thermal camera. In IEEE International Conference on Robotics and Automation, 6 - 10 May 2013, Kongresszentrum Karlsruhe, Germany. (In Press)

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The building sector is the dominant consumer of energy and therefore a major contributor to anthropomorphic climate change. The rapid generation of photorealistic, 3D environment models with incorporated surface temperature data has the potential to improve thermographic monitoring of building energy efficiency. In pursuit of this goal, we propose a system which combines a range sensor with a thermal-infrared camera. Our proposed system can generate dense 3D models of environments with both appearance and temperature information, and is the first such system to be developed using a low-cost RGB-D camera. The proposed pipeline processes depth maps successively, forming an ongoing pose estimate of the depth camera and optimizing a voxel occupancy map. Voxels are assigned 4 channels representing estimates of their true RGB and thermal-infrared intensity values. Poses corresponding to each RGB and thermal-infrared image are estimated through a combination of timestamp-based interpolation and a pre-determined knowledge of the extrinsic calibration of the system. Raycasting is then used to color the voxels to represent both visual appearance using RGB, and an estimate of the surface temperature. The output of the system is a dense 3D model which can simultaneously represent both RGB and thermal-infrared data using one of two alternative representation schemes. Experimental results demonstrate that the system is capable of accurately mapping difficult environments, even in complete darkness.

Impact and interest:

30 citations in Scopus
14 citations in Web of Science®
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493 since deposited on 19 May 2013
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ID Code: 60103
Item Type: Conference Paper
Refereed: Yes
Keywords: 3D mapping, 3D thermography, energy auditing, handheld, temperature monitoring
Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
Australian and New Zealand Standard Research Classification > BUILT ENVIRONMENT AND DESIGN (120000) > BUILDING (120200) > Building not elsewhere classified (120299)
Divisions: Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2013 [please consult the author]
Deposited On: 19 May 2013 22:18
Last Modified: 23 Jun 2017 14:44

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