TY  - CONF
AU  - J.Poujol
AU  - Cristhian A. Aguilera-Carrasco
AU  - E.Danos
AU  - Boris X. Vintimilla
AU  - Ricardo Toledo
AU  - Angel Sappa
A2  - ROBOT
PY  - 2015//
TI  - Visible-Thermal Fusion based Monocular Visual Odometry
BT  - 2nd  Iberian Robotics Conference ROBOT2015
SP  - 517
EP  - 528
VL  - 417
PB  - Springer International Publishing
KW  - Monocular Visual Odometry
KW  - LWIR-RGB cross-spectral Imaging
KW  - Image Fusion.
N2  - The manuscript evaluates the performance of a monocular visual odometry approach when images from different spectra are considered, both independently and fused. The objective behind this evaluation is to analyze if classical approaches can be improved when the given images, which are from different spectra, are fused and represented in new domains. The images in these new domains should have some of the following properties: i) more robust to noisy data; ii) less sensitive to changes (e.g., lighting); iii) more rich in descriptive information, among other. In particular in the current work two different image fusion strategies are considered. Firstly, images from the visible and thermal spectrum are fused using a Discrete Wavelet Transform (DWT) approach. Secondly, a monochrome threshold strategy is considered. The obtainedrepresentations are evaluated under a visual odometry framework, highlightingtheir advantages and disadvantages, using different urban and semi-urban scenarios. Comparisons with both monocular-visible spectrum and monocular-infrared spectrum, are also provided showing the validity of the proposed approach.
SN  - 2194-5357
SN  - 978-3-319-27145-3
UR  - https://web.fe.up.pt/~robot2015/
L1  - http://refbase.cvc.uab.es/files/PAD2015.pdf
UR  - http://dx.doi.org/10.1007/978-3-319-27146-0_40
N1  - ADAS; 600.076; 600.086
ID  - J.Poujol2015
ER  -