Line Features of Detail Enhancement Thermal Infrared Image for SLAM

Abstract

To solve the problem of simultaneous localization and mapping of mobile robot vision navigation using infrared thermal imaging, A point-line feature extraction and matching algorithm after infrared image enhancement is proposed for visual odometry. We first used a guided filter to smooth the input image and separate it into the base layer and the detail layer. Then constraining the gradient of the detail will be used gain mask to enhance it. Finally, the two parts of the image combined with weighted coefficients will be exported into the second guided filter. The output image will use LSD to extract line feature, then using ORB algorithm will get point feature extraction and matching from line feature image. The results show the it can effectively improve the defect of infrared image blurred with similar background temperature and difficult to extract image features for mobile robot visual SLAM.