Passive Infrared Image Detail Enhancement with Points and Lines for Visual Odometry

DOI

10.2991/iwmecs-18.2018.91How to use a DOI?

Keywords

infrared thermal image; guided filter; detail enhancement; ORB; Line Segment Detector

Abstract

In order to use infrared thermal imaging for simultaneous localization and mapping of mobile robot vision navigation, A point-line feature extraction and matching algorithm after infrared image enhancement is proposed for visual odometry. We first used a guided filter to smooth the input image and separate it into the base layer and the detail layer. Then constraining the gradient of the detail will be used gain mask to enhance it. Finally, the two parts of the image combined with weighted coefficients will be exported into the second guided filter. The output image will use LSD to extract line feature, then using ORB algorithm will get point feature extraction and matching from line feature image . The results show the it can effectively improve the defect of infrared image blurred with similar background temperature and difficult to extract image features for mobile robot visual SLAM.

Copyright

© 2018, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Fan Li
AU  - Xuezhao Zhang
AU  - Yaohui Zhang
AU  - Helun Song
PY  - 2018/04
DA  - 2018/04
TI  - Passive Infrared Image Detail Enhancement with Points and Lines for Visual Odometry
BT  - Proceedings of the 2018 3rd International Workshop on Materials Engineering and Computer Sciences (IWMECS 2018)
PB  - Atlantis Press
SP  - 429
EP  - 434
SN  - 2352-538X
UR  - https://doi.org/10.2991/iwmecs-18.2018.91
DO  - 10.2991/iwmecs-18.2018.91
ID  - Li2018/04
ER  -