Infrared stereo calibration for unmanned ground vehicle navigation

Harguess, Josh; Strange, Shawn

doi:10.1117/12.2053537

Cited by 5 publications

(3 citation statements)

References 6 publications

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“…However, most of the works address visible-band cameras. Lately, with the proliferation of infrared sensors, there have been some efforts with thermal cameras [13], [16]- [20]. These resulted in a variety of calibration targets and tools with varying accuracies and manufacturing difficulties.…”

Section: Related Workmentioning

confidence: 99%

Thermal Stereo Odometry for UAVs

et al. 2015

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In 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.

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Section: Related Workmentioning

confidence: 99%

Thermal Stereo Odometry for UAVs

et al. 2015

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“…A similar approach was developed [ 47 ], but IR-emitting electric resistors were used, fixed and aligned symmetrically on a metallic plate instead of the burning lamps on a wooden or a plastic board. Rather than manufacturing an active calibration target that is electrically operated, passive circular calibration patterns were developed by laser printing an asymmetric black ink circular pattern on a white glossy Dibond ® panel and exposing it to sunlight [ 48 ], or UV printing a symmetrical circular pattern on a Dibond ® plate and heating the plate using an electric fan heater [ 6 ] or by exposing it to sunlight [ 49 ]. A different approach resided in creating a symmetrical calibration target built purely from aluminum, heated using an electric heater, and divided into two pieces.…”

Section: Literature Reviewmentioning

confidence: 99%

Infrared Camera Geometric Calibration: A Review and a Precise Thermal Radiation Checkerboard Target

Elsheikh

Abu-Nabah

Hamdan

et al. 2023

Sensors

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Different infrared (IR) planar geometric calibration targets have been developed over the years that exploit a well-established and flexible optical camera geometric calibration procedure following the pinhole approximation. This geometric calibration is typically neglected in IR cameras, due to the relatively low resolution of thermal images and the complex IR targets needed for the geometric calibration in comparison to the optical targets. In this study, a thorough literature review of numerous IR camera geometric calibration targets, along with their respective outcomes, were summarized and leveraged to deliver a practical checkerboard target for less experienced end users, while offering the lowest reprojection errors. It was concluded that the fabrication of high emissivity contrast and precise square points of intersection within a checkerboard pattern extends the accuracy of capturing these control points in a thermal image for an optimized IR camera geometric calibration. Accordingly, two simple planar checkerboard targets were fabricated using laser engraving and ultraviolet (UV) printing technologies on a polished stainless steel (SS304) plate. The UV-printed checkerboard target on a polished metallic alloy delivered the lowest mean reprojection error (MRE) of 0.057 pixels and the lowest root mean square error (RMSE) of reprojection of 0.063 pixels, with a standard deviation lower than 0.003 pixels. The UV-printed design offers better accuracy than any other checkerboard calibration target, and comparable results to the best prominent circular pattern results reported in the literature.

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“…Once the grid is heated, it can be used for imaging. Another solution is to use sunlight to heat an asymmetric calibration pattern painted on a Dibond board [11]. In the best cases, they were able to get an RMS re-projection error of 0.348 on a 640 × 512 pixels camera.…”

Section: Calibration Gridmentioning

confidence: 99%

Robust low resolution thermal stereo camera calibration

Zoetgnande¹,

Fougères

Cormier³

et al. 2019

Eleventh International Conference on Machine Vision (ICMV 2018)

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In this paper, we address the particularly challenging problem of calibrating a stereo pair of low resolution (80 × 60) thermal cameras. We propose a new calibration method for such setup, based on sub-pixel image analysis of an adequate calibration pattern and bootstrap methods. The experiments show that the method achieves robust calibration with a quarter-pixel re-projection error for an optimal set of 35 input stereo pairs of the calibration pattern, which namely outperforms the standard OpenCV stereo calibration procedure.

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Infrared stereo calibration for unmanned ground vehicle navigation

Cited by 5 publications

References 6 publications

Thermal Stereo Odometry for UAVs

Thermal Stereo Odometry for UAVs

Infrared Camera Geometric Calibration: A Review and a Precise Thermal Radiation Checkerboard Target

Robust low resolution thermal stereo camera calibration

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