Matches in SemOpenAlex for { <https://semopenalex.org/work/W4387536223> ?p ?o ?g. }
Showing items 1 to 78 of
78
with 100 items per page.
- W4387536223 abstract "Abstract Modern animal behaviourists are able to collect vast amounts of data from multiple sensors. Sensor fusion however still remains a challenge given the unique sensor types biologists use. Here we study thermal camera-LiDAR alignment. While LiDAR-RGB scene alignment is well-established in feature-rich scenes with reliable inter-camera correspondences, thermal scenes are often captured with low-resolution devices and suffer from halo and history effects, and thus require sensor-specific algorithms. To deal with this, we present the depth-map correspondence (DMCP) algorithm. DMCP is a semi-automatic algorithm to fuse Li-DAR with feature-deficient thermal scenes without explicit calibration objects. The user annotates at least 4 corresponding points on the thermal image and a depth map of the LiDAR scene, which allows us to compute the position and orientation of the thermal camera within the scene. We quantify the accuracy of alignment using 2D reprojection error and 3D nearest-neighbour distances of known world points across experimental trials. A median reprojection error of 7.7 (95%ile: 3.7-23.5) pixels was achieved. Known objects lying on the LiDAR mesh showed a median nearest-neighbour mesh distance of 0.12 m (95%ile: 0.007-5.61 m). We present the first such alignment of feature-deficient thermal scenes and LiDAR data. DMCP has two advantages 1) it is computationally straightforward to implement and 2) requires minimal user annotation to work. DMCP could be broadly applied to any type of mesh-image alignment problem. Finally we provide DMCP and the Ushichka dataset as a baseline for further research on the challenging problem of subterranean thermal-LiDAR alignment." @default.
- W4387536223 created "2023-10-12" @default.
- W4387536223 creator A5031501935 @default.
- W4387536223 creator A5080296321 @default.
- W4387536223 creator A5093043912 @default.
- W4387536223 date "2023-10-10" @default.
- W4387536223 modified "2023-10-16" @default.
- W4387536223 title "A target-free approach to estimate thermal camera pose in LiDAR scenes of feature-deficient environments" @default.
- W4387536223 cites W2033819227 @default.
- W4387536223 cites W2072544504 @default.
- W4387536223 cites W2104126397 @default.
- W4387536223 cites W2126277110 @default.
- W4387536223 cites W2128019145 @default.
- W4387536223 cites W2151103935 @default.
- W4387536223 cites W2168545424 @default.
- W4387536223 cites W2294464339 @default.
- W4387536223 cites W2584979312 @default.
- W4387536223 cites W2766547953 @default.
- W4387536223 cites W2995949129 @default.
- W4387536223 cites W3047579219 @default.
- W4387536223 cites W63091017 @default.
- W4387536223 doi "https://doi.org/10.1101/2023.10.09.561532" @default.
- W4387536223 hasPublicationYear "2023" @default.
- W4387536223 type Work @default.
- W4387536223 citedByCount "0" @default.
- W4387536223 crossrefType "posted-content" @default.
- W4387536223 hasAuthorship W4387536223A5031501935 @default.
- W4387536223 hasAuthorship W4387536223A5080296321 @default.
- W4387536223 hasAuthorship W4387536223A5093043912 @default.
- W4387536223 hasBestOaLocation W43875362231 @default.
- W4387536223 hasConcept C115961682 @default.
- W4387536223 hasConcept C138885662 @default.
- W4387536223 hasConcept C154945302 @default.
- W4387536223 hasConcept C160633673 @default.
- W4387536223 hasConcept C16345878 @default.
- W4387536223 hasConcept C205649164 @default.
- W4387536223 hasConcept C23903533 @default.
- W4387536223 hasConcept C2524010 @default.
- W4387536223 hasConcept C2776401178 @default.
- W4387536223 hasConcept C31972630 @default.
- W4387536223 hasConcept C33923547 @default.
- W4387536223 hasConcept C41008148 @default.
- W4387536223 hasConcept C41895202 @default.
- W4387536223 hasConcept C51399673 @default.
- W4387536223 hasConcept C62649853 @default.
- W4387536223 hasConcept C82990744 @default.
- W4387536223 hasConceptScore W4387536223C115961682 @default.
- W4387536223 hasConceptScore W4387536223C138885662 @default.
- W4387536223 hasConceptScore W4387536223C154945302 @default.
- W4387536223 hasConceptScore W4387536223C160633673 @default.
- W4387536223 hasConceptScore W4387536223C16345878 @default.
- W4387536223 hasConceptScore W4387536223C205649164 @default.
- W4387536223 hasConceptScore W4387536223C23903533 @default.
- W4387536223 hasConceptScore W4387536223C2524010 @default.
- W4387536223 hasConceptScore W4387536223C2776401178 @default.
- W4387536223 hasConceptScore W4387536223C31972630 @default.
- W4387536223 hasConceptScore W4387536223C33923547 @default.
- W4387536223 hasConceptScore W4387536223C41008148 @default.
- W4387536223 hasConceptScore W4387536223C41895202 @default.
- W4387536223 hasConceptScore W4387536223C51399673 @default.
- W4387536223 hasConceptScore W4387536223C62649853 @default.
- W4387536223 hasConceptScore W4387536223C82990744 @default.
- W4387536223 hasLocation W43875362231 @default.
- W4387536223 hasOpenAccess W4387536223 @default.
- W4387536223 hasPrimaryLocation W43875362231 @default.
- W4387536223 hasRelatedWork W1964041166 @default.
- W4387536223 hasRelatedWork W2901265155 @default.
- W4387536223 hasRelatedWork W2923357136 @default.
- W4387536223 hasRelatedWork W2956374172 @default.
- W4387536223 hasRelatedWork W3188333020 @default.
- W4387536223 hasRelatedWork W4210818033 @default.
- W4387536223 hasRelatedWork W4221065211 @default.
- W4387536223 hasRelatedWork W4308071650 @default.
- W4387536223 hasRelatedWork W4319317934 @default.
- W4387536223 hasRelatedWork W4319837668 @default.
- W4387536223 isParatext "false" @default.
- W4387536223 isRetracted "false" @default.
- W4387536223 workType "article" @default.