Co-registration of Time-of-Flight (TOF) camera generated 3d point clouds and thermal infrared images (IR)

This article presents an investigation on the co-registration of a 3d point cloud and intensity image of a near-infrared (NIR) time-of-flight (TOF) camera system and a thermal infrared (TIR) camera. The TIR-camera is relatively oriented to the TOF-camera. As the radiometric behavior of the TIR-camera and the NIR-image of the TOF-camera is different for most pixels, corners are detected in both images and co-registered. The intensity values of TIR-camera are projected into the TOF point cloud and from there in the TOF-camera image plane. The quality of the projection is evaluated comparing the projected TIR image from the view of the TOF-camera and the TOF NIR image. Zusammenfassung: Gegenstand dieses Artikels ist die Koregistrierung einer 3d Punktwolke und eines Nah-Infrarot (NIR) Bildes einer Time-of-Flight (TOF) Kamera mit einer thermischen Infrarot (TIR) Kamera. Die TIR Kamera wird relativ zur TOF Kamera orientiert. Da sich die radiometrischen Eigenschaften der TIR Kamera und des NIR Bildes der TOF Kamera für die meisten Pixel unterscheiden, werden Ecken in beiden Bildern detektiert und koregistriert. Die Intensitätswerte der TIR Kamera werden in die Punktwolke der TOF Kamera projiziert und von dort in die Bildebene der TOF Kamera. Die Qualität der Projektion wird durch Überlagerung des in die TOF Kamera projizierten TIR Bildes und des NIR Bildes der TOF Kamera überprüft.

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