Thermal stereo odometry for UAVs

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dc.contributor.authorMouats, Tarek
dc.contributor.authorAouf, Nabil
dc.contributor.authorChermak, Lounis
dc.contributor.authorRichardson, Mark A.
dc.date.accessioned2020-02-18T11:20:23Z
dc.date.available2020-02-18T11:20:23Z
dc.date.issued2015-07-14
dc.description.abstractIn the last decade, visual odometry (VO) has attracted significant research attention within the computer vision community. Most of the works have been carried out using standard visible-band cameras. These sensors offer numerous advantages but also suffer from some drawbacks such as illumination variations and limited operational time (i.e., daytime only). In this paper, we explore techniques that allow us to extend the concepts beyond the visible spectrum. We introduce a localization solution based on a pair of thermal cameras. We focus on VO and demonstrate the accuracy of the proposed solution in daytime as well as night-time. The first challenge with thermal cameras is their geometric calibration. Here, we propose a solution to overcome this issue and enable stereopsis. VO requires a good set of feature correspondences. We use a combination of Fast-Hessian detector with for Fast Retina Keypoint descriptor for that purpose. A range of optimization techniques can be used to compute the incremental motion. Here, we propose the double dogleg algorithm and show that it presents an interesting alternative to the commonly used Levenberg-Marquadt approach. In addition, we explore thermal 3-D reconstruction and show that similar performance to the visible-band can be achieved. In order to validate the proposed solution, we build an innovative experimental setup to capture various data sets, where different weather and time conditions are considered.en_UK
dc.identifier.citationMouats T, Aouf N, Chermak L, Richardson M. (2015) Thermal stereo odometry for UAVs. IEEE Sensors Journal, Volume 15, Issue 11, July 2015, pp. 6335-6347en_UK
dc.identifier.cris2336314
dc.identifier.issn1530-437X
dc.identifier.urihttps://doi.org/10.1109/JSEN.2015.2456337
dc.identifier.urihttp://dspace.lib.cranfield.ac.uk/handle/1826/15142
dc.language.isoenen_UK
dc.publisherIEEEen_UK
dc.rightsAttribution-NonCommercial 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/*
dc.subject3D reconstructionen_UK
dc.subjectGeometric calibrationen_UK
dc.subjectMotion estimationen_UK
dc.subjectInfrareden_UK
dc.subjectStereo vision systemen_UK
dc.subjectThermal imageryen_UK
dc.subjectVisual odometryen_UK
dc.titleThermal stereo odometry for UAVsen_UK
dc.typeArticleen_UK

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