Publication detail

Fusion of Thermal Imaging and CCD Camera-based Data for Stereovision Visual Telepresence

ŽALUD, L. KOCMANOVÁ, P.

Original Title

Fusion of Thermal Imaging and CCD Camera-based Data for Stereovision Visual Telepresence

Type

conference paper

Language

English

Original Abstract

The aim of this paper is to describe the fusion of data acquired from a CCD camera and a thermal imager. The fusion is realized by means of spatial data from a TOF camera to ensure natural representation of a robots environment; thus, the thermal and color-related data are comprised in one stereo image presented to a binocular, head-mounted display. The data acquisition is performed using a sensor head, which is placed on an Orpheus-X3 robot; both the head and the robot were developed by our working group. The head contains five matrix sensors: a pair of CCD cameras, a pair of thermal imagers, and one TOF camera. After the geometrical calibration of each sensor, the positions of the sensors in 6DOFs are computed. The corresponding data from the CCD camera and the thermal imager are subsequently determined via homogeneous and perspective transformations. The result consists in an image containing aligned data from the CCD camera and the thermal imager for each eye.

Keywords

mobile robot; reconnaissance; CCD camera; thermal imager; data fusion

Authors

ŽALUD, L.; KOCMANOVÁ, P.

RIV year

2013

Released

21. 10. 2013

ISBN

978-1-4799-0165-4

Book

Proceedings of the 11th IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2013)

Pages from

1

Pages to

6

Pages count

6

BibTex

@inproceedings{BUT104248,
  author="Luděk {Žalud} and Petra {Kalvodová}",
  title="Fusion of Thermal Imaging and CCD Camera-based Data for Stereovision Visual Telepresence",
  booktitle="Proceedings of the 11th IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2013)",
  year="2013",
  pages="1--6",
  isbn="978-1-4799-0165-4"
}