TP-TIO: A Robust Thermal-Inertial Odometry with Deep ThermalPoint
TP-TIO: A Robust Thermal-Inertial Odometry with Deep ThermalPoint
To achieve robust motion estimation in visually degraded environments, thermal odometry has been an attraction in the robotics community. However, most thermal odometry methods are purely based on classical feature extractors, which is difficult to establish robust correspondences in successive frames due to sudden photometric changes and large thermal noise. …