MATEC Web Conf.
Volume 139, 20172017 3rd International Conference on Mechanical, Electronic and Information Technology Engineering (ICMITE 2017)
|Number of page(s)||4|
|Published online||05 December 2017|
Line Features of Detail Enhancement Thermal Infrared Image for SLAM
1 Suzhou Institute of Nano-Tech and Nano-Bionics Chinese Academy of Sciences Suzhou, China
* Corresponding author: email@example.com
To solve the problem of simultaneous localization and mapping of mobile robot vision navigation using infrared thermal imaging, A point-line feature extraction and matching algorithm after infrared image enhancement is proposed for visual odometry. We first used a guided filter to smooth the input image and separate it into the base layer and the detail layer. Then constraining the gradient of the detail will be used gain mask to enhance it. Finally, the two parts of the image combined with weighted coefficients will be exported into the second guided filter. The output image will use LSD to extract line feature, then using ORB algorithm will get point feature extraction and matching from line feature image. The results show the it can effectively improve the defect of infrared image blurred with similar background temperature and difficult to extract image features for mobile robot visual SLAM.
© The Authors, published by EDP Sciences, 2017
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (http://creativecommons.org/licenses/by/4.0/).
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