论文标题
实时热图像和1D/2D/3D深度激光读数，用于通过无人机和/或机器人在工业植物中进行远程热传感
Fusion of Real Time Thermal Image and 1D/2D/3D Depth Laser Readings for Remote Thermal Sensing in Industrial Plants by Means of UAVs and/or Robots
论文作者
论文摘要
本文介绍了在黑暗的，受GPS有限的环境中进行热红外遥感的快速程序，例如在工厂中发现的，例如高压直流电（HVDC）转换器站。这些过程基于从一维激光镜或2维Hokuyo激光器或3D多义SLB激光传感器以及从Flir Duo Dual Dual dual-dual-dual-dual-thermphthotal摄像头获得的深度估计的组合。这些传感器/摄像机的组合适用于无人驾驶汽车（UAV）和/或机器人安装，以提供有关潜在故障的可靠信息，这些信息可以在危险环境中找到。 For example, the capabilities of the developed software and hardware system corresponding to the combination of the 1-D LIDAR sensor and the FLIR Duo R dual-sensor thermal camera is assessed from the point of the accuracy of results and the required computational times: the obtained computational times are under 10 ms, with a maximum localization error of 8 mm and an average standard deviation for the measured temperatures of 1.11 degree Celsius, which results are obtained for a number of test cases.该论文的结构如下：第二部分中介绍了用于识别和定位热点的系统的描述。在第三节中，通过使用一维激光激光传感器和热图像在植物中识别和定位的方法与结果一起描述。在第四节中，提出了实时热图像处理。第五节中描述了二维深度激光和热图像的融合。在第六节中，描述了3D多义SLB激光器和热图像的组合。在第七节中，讨论并得出了几个结论。
This paper presents fast procedures for thermal infrared remote sensing in dark, GPS-denied environments, such as those found in industrial plants such as in High-Voltage Direct Current (HVDC) converter stations. These procedures are based on the combination of the depth estimation obtained from either a 1-Dimensional LIDAR laser or a 2-Dimensional Hokuyo laser or a 3D MultiSense SLB laser sensor and the visible and thermal cameras from a FLIR Duo R dual-sensor thermal camera. The combination of these sensors/cameras is suitable to be mounted on Unmanned Aerial Vehicles (UAVs) and/or robots in order to provide reliable information about the potential malfunctions, which can be found within the hazardous environment. For example, the capabilities of the developed software and hardware system corresponding to the combination of the 1-D LIDAR sensor and the FLIR Duo R dual-sensor thermal camera is assessed from the point of the accuracy of results and the required computational times: the obtained computational times are under 10 ms, with a maximum localization error of 8 mm and an average standard deviation for the measured temperatures of 1.11 degree Celsius, which results are obtained for a number of test cases. The paper is structured as follows: the description of the system used for identification and localization of hotspots in industrial plants is presented in section II. In section III, the method for faults identification and localization in plants by using a 1-Dimensional LIDAR laser sensor and thermal images is described together with results. In section IV the real time thermal image processing is presented. Fusion of the 2-Dimensional depth laser Hokuyo and the thermal images is described in section V. In section VI the combination of the 3D MultiSense SLB laser and thermal images is described. In section VII a discussion and several conclusions are drawn.
