Abstract
This paper presents a method to simultaneously measure three-dimensional (3D) surface geometry and temperature in real time. Specifically, we developed 1) a holistic approach to calibrate both a structured light system and a thermal camera under exactly the same world coordinate system even though these two sensors do not share the same wavelength; and 2) a computational framework to determine the sub-pixel corresponding temperature for each 3D point as well as discard those occluded points. Since the thermal 2D imaging and 3D visible imaging systems do not share the same spectrum of light, they can perform sensing simultaneously in real time: we developed a hardware system that can achieve real-time 3D geometry and temperature measurement at 26 Hz with 768 × 960 points per frame.
Highlights
Real-time measurement of a 3D geometric shape is vital for numerous applications including manufacturing, medical practices, and more [1]; temperature sensing using a thermal imaging camera is of great interest to benefit both scientific research and industrial practices [2,3,4,5]
Two different hardware systems have been developed to verify the performance of the proposed method: 1) a static system that has a resolution of 1280 × 1024 points per frame; and 2) a real-time system that can achieve simultaneous 3D geometric shape and surface temperature measurement at 26 Hz with a resolution of 768 × 960 pixels per frame
Since the world coordinate system coincides with the regular camera for both the structured light system calibration and the thermal camera calibration, all these device calibrations are under exactly the same world coordinate system
Summary
Real-time measurement of a 3D geometric shape is vital for numerous applications including manufacturing, medical practices, and more [1]; temperature sensing using a thermal imaging camera is of great interest to benefit both scientific research and industrial practices [2,3,4,5]. The passive methods can work well if an object surface has rich texture information, yet their accuracy will be compromised if a surface is uniform or has low texture variations Those methods requiring active illumination are less sensitive to surface properties since 3D reconstruction is mainly based on the emission sent out from the emitter. Two different hardware systems have been developed to verify the performance of the proposed method: 1) a static system that has a resolution of 1280 × 1024 points per frame; and 2) a real-time system that can achieve simultaneous 3D geometric shape and surface temperature measurement at 26 Hz with a resolution of 768 × 960 pixels per frame
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