长波红外成像技术及其在SLAM中的应用
Long wave infrared imaging technology and its application in SLAM
赖路广 1赵冬青 1李林阳 2李雄庆 1樊文哲 1袁俊俨1
作者信息
- 1. 信息工程大学地理空间信息学院,郑州 450001
- 2. 信息工程大学地理空间信息学院,郑州 450001;武汉大学测绘学院,武汉 430079
- 折叠
摘要
针对长波红外相机在同步定位与建图(SLAM)中的应用进行了总结分析.通过对比红外相机与可见光相机成像的异同,分析了红外SLAM研究的难点,结合国内外对于红外SLAM的研究进展,从红外图像特征提取、红外里程计、多传感器融合红外里程计和红外SLAM 4个方面进行了总结梳理.长波红外相机在挑战环境下具有良好的应用前景,但其存在明显缺点,未来红外相机与其他传感器的结合使用应是研究的重点.
Abstract
Long wave infrared camera has the advantage of all-weather and all-day,and its application in harsh conditions has attracted extensive attention from scholars at both domestic and international level in recent years.This paper summarizes and analyzes the application of long-wave infrared camera in simultaneous localization and mapping(SLAM).This paper analyzes the difficulties of infrared SLAM research by comparing the similarities and differences between the imaging of infrared cameras and visible light cameras,and summarizes the progress of infrared SLAM research at home and abroad from the four aspects of infrared image feature extraction,infrared odometry,multi-sensor fusion infrared odometry and infrared SLAM.Long wave infrared camera has a good application prospect in challenging environment,but it has obvious shortcomings,and the combination of infrared camera and other sensors should be the focus of research in the future.
关键词
SLAM/挑战环境/长波红外/红外图像/数据集Key words
SLAM/challenging environments/long wave infrared/infrared image/dataset引用本文复制引用
基金项目
国家自然科学基金项目(42104033)
国家自然科学基金项目(41774037)
博士后科学基金项目(2022M712442)
出版年
2024
NETL
NSTL
万方数据