Institute of Optical Sensor Systems, German Aerospace Center (DLR), 12489 Berlin, Germany.
Sensors (Basel). 2022 Jun 23;22(13):4745. doi: 10.3390/s22134745.
We present a workflow for seamless real-time navigation and 3D thermal mapping in combined indoor and outdoor environments in a global reference frame. The automated workflow and partly real-time capabilities are of special interest for inspection tasks and also for other time-critical applications. We use a hand-held integrated positioning system (IPS), which is a real-time capable visual-aided inertial navigation technology, and augment it with an additional passive thermal infrared camera and global referencing capabilities. The global reference is realized through surveyed optical markers (AprilTags). Due to the sensor data's fusion of the stereo camera and the thermal images, the resulting georeferenced 3D point cloud is enriched with thermal intensity values. A challenging calibration approach is used to geometrically calibrate and pixel-co-register the trifocal camera system. By fusing the terrestrial dataset with additional geographic information from an unmanned aerial vehicle, we gain a complete building hull point cloud and automatically reconstruct a semantic 3D model. A single-family house with surroundings in the village of Morschenich near the city of Jülich (German federal state North Rhine-Westphalia) was used as a test site to demonstrate our workflow. The presented work is a step towards automated building information modeling.
我们提出了一种在全球参考框架内无缝实时导航和 3D 热成像图绘制的工作流程，适用于室内外混合环境。该自动化工作流程和部分实时功能对于检查任务和其他时间关键型应用具有特殊意义。我们使用手持式集成定位系统（IPS），它是一种实时视觉辅助惯性导航技术，并通过附加的被动式热红外摄像机和全球参考能力对其进行增强。全球参考是通过调查光学标记（AprilTags）实现的。由于立体摄像机和热图像的传感器数据融合，生成的地理参考 3D 点云丰富了热强度值。我们采用了具有挑战性的校准方法，对三焦点相机系统进行几何校准和像素配准。通过将地面数据集与来自无人机的附加地理信息融合，我们获得了完整的建筑物外壳点云，并自动重建语义 3D 模型。德国北莱茵-威斯特法伦州于利希市附近的莫尔申希村的一栋单层住宅及其周围环境被用作测试场地，以展示我们的工作流程。这项工作是迈向自动化建筑信息建模的一步。
