Skip to Main content Skip to Navigation
Conference papers

Build your own hybrid thermal/EO camera for autonomous vehicle

Abstract : In this work, we propose a novel paradigm to design a hybrid thermal/EO (Electro-Optical or visible-light) camera, whose thermal and RGB frames are pixel-wisely aligned and temporally synchronized. Compared with the existing schemes, we innovate in three ways in order to make it more compact in dimension, and thus more practical and extendable for real-world applications. The first is a redesign of the structure layout of the thermal and EO cameras. The second is on obtaining a pixel-wise spatial registration of the thermal and RGB frames by a coarse mechanical adjustment and a fine alignment through a constant homography warping. The third innovation is on extending one single hybrid camera to a hybrid camera array, through which we can obtain wide-view spatially aligned thermal, RGB and disparity images simultaneously. The experimental results show that the average error of spatial-alignment of two image modalities can be less than one pixel.
Document type :
Conference papers
Complete list of metadatas

Cited literature [10 references]  Display  Hide  Download

https://hal.inria.fr/hal-02051880
Contributor : Gul Varol <>
Submitted on : Thursday, February 28, 2019 - 10:25:36 AM
Last modification on : Tuesday, August 4, 2020 - 3:44:57 AM
Document(s) archivé(s) le : Wednesday, May 29, 2019 - 5:47:48 PM

File

hybrid-camera-ICRA19.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-02051880, version 1

Collections

Citation

Yigong Zhang, Yicheng Gao, Shuo Gu, Yubin Guo, Minghao Liu, et al.. Build your own hybrid thermal/EO camera for autonomous vehicle. ICRA 2019 - IEEE International Conference on Robotics and Automation, May 2019, Montreal, Canada. ⟨hal-02051880⟩

Share

Metrics

Record views

336

Files downloads

839