PT Journal
AU Angel Sappa
   Cristhian A. Aguilera-Carrasco
   Juan A. Carvajal Ayala
   Miguel Oliveira
   Dennis Romero
   Boris X. Vintimilla
   Ricardo Toledo
TI Monocular visual odometry: A cross-spectral image fusion based approach
SO Robotics and Autonomous Systems
JI RAS
PY 2016
BP 26
EP 36
VL 85
DI 10.1016/j.robot.2016.08.005
DE Monocular visual odometry; LWIR-RGB cross-spectral imaging; Image fusion
AB 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.
ER