TY  - JOUR
AU  - Angel Sappa
AU  - Cristhian A. Aguilera-Carrasco
AU  - Juan A. Carvajal Ayala
AU  - Miguel Oliveira
AU  - Dennis Romero
AU  - Boris X. Vintimilla
AU  - Ricardo Toledo
PY  - 2016//
TI  - Monocular visual odometry: A cross-spectral image fusion based approach
T2  - RAS
JO  - Robotics and Autonomous Systems
SP  - 26
EP  - 36
VL  - 85
PB  - Elsevier B.V.
KW  - Monocular visual odometry
KW  - LWIR-RGB cross-spectral imaging
KW  - Image fusion
N2  - 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.
L1  - http://refbase.cvc.uab.es/files/SAC2016.pdf
UR  - http://dx.doi.org/10.1016/j.robot.2016.08.005
N1  - ADAS;600.086; 600.076
ID  - Angel Sappa2016
ER  -