Uploaded March 2019 | Updated September 2026, 2 weeks ago
This video presents a comparative study between state-of-the-art GPS-denied visual-inertial odometry frameworks. The comparison includes odometry frameworks applied on rescaled thermal camera data against full radiometric information-exploiting methods using a modified filter-based estimator and a recently proposed keyframe-based direct technique specifically designed for thermal-inertial localization. In a data-driven manner we present the ability of thermal-inertial localization to overcome cases of visual degradation such as darkness and presence of obscurants and demonstrate that direct full radiometric information-based thermal-inertial localization should be the prime selection especially in hard environments with weak thermal gradients. The results shown include comparison both inside a motion captured-controlled environment, and in an underground mine.
This video presents a comparative study between state-of-the-art GPS-denied visual-inertial odometry frameworks. The comparison includes odometry frameworks applied on rescaled thermal camera data against full radiometric information-exploiting methods using a modified filter-based estimator and a recently proposed keyframe-based direct technique specifically designed for thermal-inertial localization. In a data-driven manner we present the ability of thermal-inertial localization to overcome cases of visual degradation such as darkness and presence of obscurants and demonstrate that direct full radiometric information-based thermal-inertial localization should be the prime selection especially in hard environments with weak thermal gradients. The results shown include comparison both inside a motion captured-controlled environment, and in an underground mine.
