Sensor Fusion of a 2D Laser Scanner and a Thermal Camera

Johanna Gleichauf, Christian Pfitzner, Stefan May

2017

Abstract

In order to increase the robustness of localisation and victim detection in low visibility situations it is necessary to fuse several sensors. The most common sensor used in robotics is the 2D laser scanner which delivers distance measurements. In combination with a camera the gained information can be supported by visual information about the environment. Thermal cameras are ideal for finding objects with a certain temperature, but they do not deliver distance information. The difficulty in fusing these two sensors is, that a correspondence between each distance measurement and its corresponding pixel within the thermal image needs to be found. As the laser scanner only displays one plane, this is not an intuitive task. A special triangular calibration target, covering all six degrees of freedom and being visible for both sensors, was developed. In the end the transformation between each laser scan point and its corresponding thermal image pixel is given. This allows for assigning every laser measurement within the field of view a corresponding thermal pixel. The final application will enable detection of human beings and display the distance required to reach them.

Paper Citation

in Harvard Style

Gleichauf J., Pfitzner C. and May S. (2017). Sensor Fusion of a 2D Laser Scanner and a Thermal Camera . In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-263-9, pages 398-405. DOI: 10.5220/0006397303980405

in Bibtex Style

@conference{icinco17,
author={Johanna Gleichauf and Christian Pfitzner and Stefan May},
title={Sensor Fusion of a 2D Laser Scanner and a Thermal Camera},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2017},
pages={398-405},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006397303980405},
isbn={978-989-758-263-9},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Sensor Fusion of a 2D Laser Scanner and a Thermal Camera
SN - 978-989-758-263-9
AU - Gleichauf J.
AU - Pfitzner C.
AU - May S.
PY - 2017
SP - 398
EP - 405
DO - 10.5220/0006397303980405