Paper Info
Title
Swir Camera-Based Localization And Mapping In Challenging Environments
Abstract
This paper assesses a monocular localization system for complex scenes. The system is carried by a moving agent in a complex environment (smoke, darkness, indoor-outdoor transitions). We show how using a short-wave infrared camera (SWIR) with a potential lighting source is a good compromise that allows to make just a slight adaptation of classical simultaneous localization and mapping (SLAM) techniques. This choice made it possible to obtain relevant features from SWIR images and also to limit tracking failures due to the lack of key points in such challenging environments. In addition, we propose a tracking failure recovery strategy in order to allow tracking re-initialization with or without the use of other sensors. Our localization system is validated using real datasets generated from a moving SWIR-camera in indoor environment. Obtained results are promising, and lead us to consider the integration of our mono-SLAM in a complete localization chain including a data fusion process from several sensors.
Year
DOI
Venue
2019
10.1007/978-3-030-30645-8_41
IMAGE ANALYSIS AND PROCESSING - ICIAP 2019, PT II
Keywords
DocType
Volume
Visual SLAM, Visual odometry, Short-wave Infrared (SWIR) camera
Conference
11752
ISSN
Citations 
PageRank 
0302-9743
2
0.40
References 
Authors
0
6
Name
Order
Citations
PageRank
Viachaslau Kachurka120.40
David Roussel220.40
Hicham Hadj-abdelkader37210.22
Fabien Bonardi422.09
Jean-yves Didier57013.14
Samia Bouchafa620.74