On-the-fly extrinsic calibration of multimodal sensing system for fast 3D thermographic scanning
The fusion of three-dimensional (3D) geometrical and two-dimensional (2D) thermal information provides a promising method for characterizing temperature distribution of 3D objects, extending infrared imaging from 2D to 3D to support various thermal inspection applications. In this paper, we present an effective on-the-fly calibration approach for accurate alignment of depth and thermal data to facilitate dynamic and fast-speed 3D thermal scanning tasks. For each pair of depth and thermal frames, we estimate their relative pose by minimizing the objective function that measures the temperature consistency between a 2D infrared image and the reference 3D thermographic model. Our proposed frame-to-model mapping scheme can be seamlessly integrated into a generic 3D thermographic reconstruction framework. Through graphics-processing-unit-based acceleration, our method requires less than 10 ms to generate a pair of well-aligned depth and thermal images without hardware synchronization and improves the robustness of the system against significant camera motion.
Publication Source (Journal or Book title)
Xu, B., Ye, Z., Wang, F., Yang, J., Cao, Y., Tisse, C., Li, X., & Cao, Y. (2019). On-the-fly extrinsic calibration of multimodal sensing system for fast 3D thermographic scanning. Applied Optics, 58 (12), 3238-3246. https://doi.org/10.1364/AO.58.003238