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Author  |
Angel D. Sappa; Cristhian A. Aguilera; Juan A. Carvajal Ayala; Miguel Oliveira; Dennis Romero; Boris X. Vintimilla; Ricardo Toledo | ||||
| Title | Monocular visual odometry: a cross-spectral image fusion based approach | Type | Journal Article | ||
| Year | 2016 | Publication | Robotics and Autonomous Systems Journal | Abbreviated Journal | |
| Volume | Vol. 86 | Issue | Pages | pp. 26-36 | |
| Keywords | Monocular visual odometry LWIR-RGB cross-spectral imaging Image fusion | ||||
| Abstract | 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 em- pirically obtained by means of a mutual information based evaluation met- ric. The objective is to have a exible scheme where fusion parameters are adapted according to the characteristics of the given images. Visual odom- etry 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. | ||||
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| Language | Enlgish | Summary Language | English | Original Title | |
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| Notes | Approved | no | |||
| Call Number | cidis @ cidis @ | Serial | 54 | ||
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