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Journal Articles Infrared Physics and Technology Year : 2020

Sub-pixel matching method for low-resolution thermal stereo images

Abstract

In the context of a localization and tracking application, we developed a stereo vision system based on cheap low-resolution 80×60 pixels thermal cameras. We proposed a threefold sub-pixel stereo matching framework (called ST for Subpixel Thermal): 1) robust features extraction method based on phase congruency, 2) rough matching of these features in pixel precision, and 3) refined matching in sub-pixel accuracy based on local phase coherence. We performed experiments on our very low-resolution thermal images (acquired using a stereo system we manufactured) as for high-resolution images from a benchmark dataset. Even if phase congruency computation time is high, it was able to extract two times more features than state-of-the-art methods such as ORB or SURF. We proposed a modified version of the phase correlation applied in the phase congruency feature space for sub-pixel matching. Using simulated stereo, we investigated how the phase con-gruency threshold and the sub-image size of sub-pixel matching can influence the accuracy. We then proved that given our stereo setup and the resolution of our images, being wrong of 1 pixel leads to a ±500 mm error in the Z position of the point. Finally, we showed that our method could extract four times more matches than a baseline method ORB + OpenCV KNN matching on low-resolution images. Moreover, our matches were more robust. More precisely, when projecting points of a standing person, ST got a standard deviation of ≈ 300 mm when ORB + OpenCV KNN gave more than 1000 mm.
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Dates and versions

hal-02432382 , version 1 (08-01-2020)

Identifiers

Cite

Yannick Zoetgnande, Geoffroy Cormier, Alain-Jérôme Fougeres, Jean-Louis Dillenseger. Sub-pixel matching method for low-resolution thermal stereo images. Infrared Physics and Technology, 2020, 105, pp.103161. ⟨10.1016/j.infrared.2019.103161⟩. ⟨hal-02432382⟩
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