Authors:
Masahiro Yamaguchi
1
;
Hideo Saito
1
and
Shoji Yachida
2
Affiliations:
1
Keio University, Japan
;
2
NEC Corporation, Japan
Keyword(s):
Thermal Camera, SLAM, RGB Camera.
Related
Ontology
Subjects/Areas/Topics:
Applications and Services
;
Computer Vision, Visualization and Computer Graphics
;
Image Formation and Preprocessing
;
Mobile Imaging
;
Motion, Tracking and Stereo Vision
;
Multimodal and Multi-Sensor Models of Image Formation
;
Stereo Vision and Structure from Motion
Abstract:
In this paper, we propose a method to generate a three-dimensional (3D) thermal map by overlaying thermal
images onto a 3D surface reconstructed by a monocular RGB camera. In this method, we capture the target
scene moving both an RGB camera and a thermal camera, which are mounted on the same zig. From the
RGB image sequence, we reconstruct 3D structures of the scene by using Large-Scale Direct Monocular
Simultaneous Localization and Mapping (LSD-SLAM), on which temperature distribution captured by the
thermal camera is overlaid, thus generate a 3D thermal map. The geometrical relationship between those
cameras is calibrated beforehand by using a calibration board that can be detected by both cameras. Since we
do not use depth cameras such as Kinect, the depth of the target scene is not limited by the measurement range
of the depth camera; any depth range can be captured. To demonstrating this technique, we show synthesized
3D thermal maps for both indoor and outdoor scenes.