Monocular visual odometry: A cross-spectral image fusion based approach

Sappa, Angel D.; Aguilera, Cristhian A.; Carvajal, Juan A.; Oliveira, Miguel; Romero, Dennis; Vintimilla, Boris X

Keywords: image fusion, Monocular visual odometry, LWIR-RGB, cross-spectral imaging

Abstract

Abstract This manuscript evaluates the usage of fused cross-spectral images in a monocular visual odometry approach. Fused images are obtained through a Discrete Wavelet Transform (DWT) scheme, where the best setup is empirically obtained by means of a mutual information based evaluation metric. The objective is to have a flexible scheme where fusion parameters are adapted according to the characteristics of the given images. Visual odometry is computed from the fused monocular images using an off the shelf approach. Experimental results using data sets obtained with two different platforms are presented. Additionally, comparison with a previous approach as well as with monocular-visible/infrared spectra are also provided showing the advantages of the proposed scheme.

Más información

Título de la Revista: ROBOTICS AND AUTONOMOUS SYSTEMS
Volumen: 85
Editorial: ELSEVIER SCIENCE BV
Fecha de publicación: 2016
Página de inicio: 26
Página final: 36
Idioma: English
DOI:

10.1016/j.robot.2016.08.005

Notas: ISI