2016 |
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Angel D. Sappa, Juan A. Carvajal, Cristhian A. Aguilera, Miguel Oliveira, Dennis G. Romero, & Boris X. Vintimilla. (2016). Wavelet-Based Visible and Infrared Image Fusion: A Comparative Study. Sensors Journal, Vol. 16, pp. 1–15.
Abstract: This paper evaluates different wavelet-based cross-spectral image fusion strategies adopted to merge visible and infrared images. The objective is to find the best setup independently of the evaluation metric used to measure the performance. Quantitative performance results are obtained with state of the art approaches together with adaptations proposed in the current work. The options evaluated in the current work result from the combination of different setups in the wavelet image decomposition stage together with different fusion strategies for the final merging stage that generates the resulting representation. Most of the approaches evaluate results according to the application for which they are intended for. Sometimes a human observer is selected to judge the quality of the obtained results. In the current work, quantitative values are considered in order to find correlations between setups and performance of obtained results; these correlations can be used to define a criteria for selecting the best fusion strategy for a given pair of cross-spectral images. The whole procedure is evaluated with a large set of correctly registered visible and infrared image pairs, including both Near InfraRed (NIR) and LongWave InfraRed (LWIR).
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Angel D. Sappa, Cristhian A. Aguilera, Juan A. Carvajal Ayala, Miguel Oliveira, Dennis Romero, Boris X. Vintimilla, et al. (2016). Monocular visual odometry: a cross-spectral image fusion based approach. Robotics and Autonomous Systems Journal, Vol. 86, pp. 26–36.
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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2015 |
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Julien Poujol, Cristhian A. Aguilera, Etienne Danos, Boris X. Vintimilla, Ricardo Toledo, & Angel D. Sappa. (2015). A visible-Thermal Fusion based Monocular Visual Odometry. In Iberian Robotics Conference (ROBOT 2015), International Conference on, Lisbon, Portugal, 2015 (Vol. 417, pp. 517–528).
Abstract: The manuscript evaluates the performance of a monocular visual odometry approach when images from different spectra are considered, both independently and fused. The objective behind this evaluation is to analyze if classical approaches can be improved when the given images, which are from different spectra, are fused and represented in new domains. The images in these new domains should have some of the following properties: i) more robust to noisy data; ii) less sensitive to changes (e.g., lighting); iii) more rich in descriptive information, among other. In particular in the current work two different image fusion strategies are considered. Firstly, images from the visible and thermal spectrum are fused using a Discrete Wavelet Transform (DWT) approach. Secondly, a monochrome threshold strategy is considered. The obtained representations are evaluated under a visual odometry framework, highlighting their advantages and disadvantages, using different urban and semi-urban scenarios. Comparisons with both monocular-visible spectrum and monocular-infrared spectrum, are also provided showing the validity of the proposed approach.
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