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

Kód výsledku v IS VaVaI

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Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

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Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2013

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

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

ISBN

978-1-4799-0165-4

ISSN

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e-ISSN

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Počet stran výsledku

6

Strana od-do

1-6

Název nakladatele

Neuveden

Místo vydání

Neuveden

Místo konání akce

Linkoping

Datum konání akce

21. 10. 2013

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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