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Registration of RGB and thermal point clouds generated by structure from motion

Abstract : Thermal imaging has become a valuable tool in various fields for remote sensing and can provide relevant information to perform object recognition or classification. In this paper, we present an automated method to obtain a 3D model fusing data from a visible and a thermal camera. The RGB and thermal point clouds are generated independently by structure from motion. The registration process includes a normalization of the point cloud scale, a global registration based on calibration data and the output of the structure from motion, and a fine registration employing a variant of the Iterative Closest Point optimization. Experimental results demonstrate the accuracy and robustness of the overall process.
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Submitted on : Friday, October 27, 2017 - 10:33:42 AM
Last modification on : Thursday, September 29, 2022 - 2:21:15 PM
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Trong Phuc Truong, Masahiro Yamaguchi, Shohei Mori, Vincent Nozick, Hideo Saito. Registration of RGB and thermal point clouds generated by structure from motion. Multi-Sensor Fusion for Dynamic Scene Understanding, Oct 2017, Venice, Italy. ⟨10.1109/ICCVW.2017.57⟩. ⟨hal-01625092⟩



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