Thermal Imaging for Robotic Applications in Outdoor Scenes

摘要

This report describes thermal techniques to identify different types of materialsin outdoor scenes. First, we present the model that we developed to calculate the temperature of materials. By applying this model, we show analyze how applying vision segmentation algorithms to thermal images allows for discriminating between materials such as rocks and sand. We then show how combining thermal and range information improves discrimination between occluding objects that are composed of the same material. Third, we examine how an autonomous robot can use these techniques to explore other planets. In particular, we show how a legged robot can use thermal inertial to select where to place its foot next or which material to sample. (Author) (kr)