Computing Thermal Point Clouds by Fusing RGB-D and Infrared Images: From Dense Object Reconstruction to Environment Mapping

Tanhao Zhang; Luyin Hu; Yuxiang Sun; Lu Li; David Navarro-Alarcon

doi:10.1109/ROBIO55434.2022.10011817

Computing Thermal Point Clouds by Fusing RGB-D and Infrared Images: From Dense Object Reconstruction to Environment Mapping

Tanhao Zhang
, Luyin Hu
, Yuxiang Sun
, Lu Li
, David Navarro-Alarcon

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

9 Citations (Scopus)

Abstract

Compared with 2D thermal images, visualizing the temperature of objects with their corresponding 3D surfaces provides a more intuitive way to perceive the environment. In this paper, we present an integrated system for large-scale and real-time 3D thermographic reconstruction through fusion of visible, infrared and depth images. The system is composed of an RGB-D and a thermal camera, whose image measurements are aligned with respect to the same coordinate frame. A thermal direct method based on infrared features is proposed and integrated into state-of-art localization algorithms for generating reliable 3D thermal point clouds. The reported experimental results demonstrate that our approach can be used for 3D reconstruction of small and large scale environments based on dual spectrum 3D information. © 2022 IEEE.

Original language	English
Title of host publication	The 2022 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2022
Publisher	IEEE
Pages	1707-1714
ISBN (Electronic)	9781665481090
ISBN (Print)	9781665481106
DOIs	https://doi.org/10.1109/ROBIO55434.2022.10011817
Publication status	Published - Dec 2022
Externally published	Yes
Event	2022 IEEE International Conference on Robotics and Biomimetics (ROBIO 2022) - China Sheraton Grand Xishuangbanna Hotel, Jinghong, China Duration: 5 Dec 2022 → 9 Dec 2022 http://irmv.sjtu.edu.cn/robio2022/venue.html

Publication series

Name	IEEE International Conference on Robotics and Biomimetics, ROBIO

Conference

Conference	2022 IEEE International Conference on Robotics and Biomimetics (ROBIO 2022)
Abbreviated title	IEEE ROBIO 2022
Place	China
City	Jinghong
Period	5/12/22 → 9/12/22
Internet address	http://irmv.sjtu.edu.cn/robio2022/venue.html

Funding

This work is supported in part by the Research Grants Council under grant 15212721, and in part by the Jiangsu Industrial Technology Research Institute Collaborative Research Program Scheme under grant ZG9V.

RGC Funding Information

RGC-funded

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10.1109/ROBIO55434.2022.10011817

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Cite this

Zhang, T., Hu, L., Sun, Y., Li, L., & Navarro-Alarcon, D. (2022). Computing Thermal Point Clouds by Fusing RGB-D and Infrared Images: From Dense Object Reconstruction to Environment Mapping. In The 2022 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2022 (pp. 1707-1714). (IEEE International Conference on Robotics and Biomimetics, ROBIO). IEEE. https://doi.org/10.1109/ROBIO55434.2022.10011817

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title = "Computing Thermal Point Clouds by Fusing RGB-D and Infrared Images: From Dense Object Reconstruction to Environment Mapping",

abstract = "Compared with 2D thermal images, visualizing the temperature of objects with their corresponding 3D surfaces provides a more intuitive way to perceive the environment. In this paper, we present an integrated system for large-scale and real-time 3D thermographic reconstruction through fusion of visible, infrared and depth images. The system is composed of an RGB-D and a thermal camera, whose image measurements are aligned with respect to the same coordinate frame. A thermal direct method based on infrared features is proposed and integrated into state-of-art localization algorithms for generating reliable 3D thermal point clouds. The reported experimental results demonstrate that our approach can be used for 3D reconstruction of small and large scale environments based on dual spectrum 3D information. {\textcopyright} 2022 IEEE.",

author = "Tanhao Zhang and Luyin Hu and Yuxiang Sun and Lu Li and David Navarro-Alarcon",

year = "2022",

month = dec,

doi = "10.1109/ROBIO55434.2022.10011817",

language = "English",

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series = "IEEE International Conference on Robotics and Biomimetics, ROBIO",

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booktitle = "The 2022 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2022",

address = "United States",

note = "2022 IEEE International Conference on Robotics and Biomimetics (ROBIO 2022), IEEE ROBIO 2022 ; Conference date: 05-12-2022 Through 09-12-2022",

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Zhang, T, Hu, L, Sun, Y, Li, L & Navarro-Alarcon, D 2022, Computing Thermal Point Clouds by Fusing RGB-D and Infrared Images: From Dense Object Reconstruction to Environment Mapping. in The 2022 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2022. IEEE International Conference on Robotics and Biomimetics, ROBIO, IEEE, pp. 1707-1714, 2022 IEEE International Conference on Robotics and Biomimetics (ROBIO 2022), Jinghong, China, 5/12/22. https://doi.org/10.1109/ROBIO55434.2022.10011817

Computing Thermal Point Clouds by Fusing RGB-D and Infrared Images: From Dense Object Reconstruction to Environment Mapping. / Zhang, Tanhao; Hu, Luyin; Sun, Yuxiang et al.
The 2022 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2022. IEEE, 2022. p. 1707-1714 (IEEE International Conference on Robotics and Biomimetics, ROBIO).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

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T1 - Computing Thermal Point Clouds by Fusing RGB-D and Infrared Images

T2 - 2022 IEEE International Conference on Robotics and Biomimetics (ROBIO 2022)

AU - Zhang, Tanhao

AU - Hu, Luyin

AU - Sun, Yuxiang

AU - Li, Lu

AU - Navarro-Alarcon, David

PY - 2022/12

Y1 - 2022/12

N2 - Compared with 2D thermal images, visualizing the temperature of objects with their corresponding 3D surfaces provides a more intuitive way to perceive the environment. In this paper, we present an integrated system for large-scale and real-time 3D thermographic reconstruction through fusion of visible, infrared and depth images. The system is composed of an RGB-D and a thermal camera, whose image measurements are aligned with respect to the same coordinate frame. A thermal direct method based on infrared features is proposed and integrated into state-of-art localization algorithms for generating reliable 3D thermal point clouds. The reported experimental results demonstrate that our approach can be used for 3D reconstruction of small and large scale environments based on dual spectrum 3D information. © 2022 IEEE.

AB - Compared with 2D thermal images, visualizing the temperature of objects with their corresponding 3D surfaces provides a more intuitive way to perceive the environment. In this paper, we present an integrated system for large-scale and real-time 3D thermographic reconstruction through fusion of visible, infrared and depth images. The system is composed of an RGB-D and a thermal camera, whose image measurements are aligned with respect to the same coordinate frame. A thermal direct method based on infrared features is proposed and integrated into state-of-art localization algorithms for generating reliable 3D thermal point clouds. The reported experimental results demonstrate that our approach can be used for 3D reconstruction of small and large scale environments based on dual spectrum 3D information. © 2022 IEEE.

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M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 9781665481106

T3 - IEEE International Conference on Robotics and Biomimetics, ROBIO

SP - 1707

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BT - The 2022 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2022

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Y2 - 5 December 2022 through 9 December 2022

ER -

Zhang T, Hu L, Sun Y, Li L, Navarro-Alarcon D. Computing Thermal Point Clouds by Fusing RGB-D and Infrared Images: From Dense Object Reconstruction to Environment Mapping. In The 2022 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2022. IEEE. 2022. p. 1707-1714. (IEEE International Conference on Robotics and Biomimetics, ROBIO). doi: 10.1109/ROBIO55434.2022.10011817

Computing Thermal Point Clouds by Fusing RGB-D and Infrared Images: From Dense Object Reconstruction to Environment Mapping

Abstract

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