AR Visualization of Thermal 3D Model by Hand-held Cameras

In this paper, we propose a system for AR visualization of thermal distribution on the environment. Our system is based on color 3D model and thermal 3D model of the target scene generated by KinectFusion using a thermal camera coupled with an RGB-D camera. In off-line phase, Viewpoint Generative Learning (VGL) is applied to the colored 3D model for collecting its stable keypoints descriptors. Those descriptors are utilized in camera pose initialization at the start of on-line phase. After that, our proposed camera tracking which combines frame-to-frame camera tracking with VGL based tacking is performed for accurate estimation of the camera pose. From estimated camera pose, the thermal 3D model is finally superimposed to current mobile camera view. As a result, we can observe the wide area thermal map from any viewpoint. Our system is applied for a temperature change visualization system with a thermal camera coupled with an RGB-D camera and it is also enables the smartphone to interactively display thermal distribution of a given scene.