Extrinsic Calibration of Thermal Camera and 3D LiDAR Sensor via Human Matching in Both Modalities during Sensor Setup Movement.

LiDAR sensors, pivotal in various fields like agriculture and robotics for tasks such as 3D object detection and map creation, are increasingly coupled with thermal cameras to harness heat information. This combination proves particularly effective in adverse conditions like darkness and rain. Ensuring seamless fusion between the sensors necessitates precise extrinsic calibration. Our innovative calibration method leverages human presence during sensor setup movements, eliminating the reliance on dedicated calibration targets. It optimizes extrinsic parameters by employing a novel evolutionary algorithm on a specifically designed loss function that measures human alignment across modalities. Our approach showcases a notable 4.43% improvement in the loss over extrinsic parameters obtained from target-based calibration in the FieldSAFE dataset. This advancement reduces costs related to target creation, saves time in diverse pose collection, mitigates repetitive calibration efforts amid sensor drift or setting changes, and broadens accessibility by obviating the need for specific targets. The adaptability of our method in various environments, like urban streets or expansive farm fields, stems from leveraging the ubiquitous presence of humans. Our method presents an efficient, cost-effective, and readily applicable means of extrinsic calibration, enhancing sensor fusion capabilities in the critical fields reliant on precise and robust data acquisition.

Improved BM3D image denoising using SSIM-optimized Wiener filter.

Image denoising is considered a salient pre-processing step in sophisticated imaging applications. Over the decades, numerous studies have been conducted in denoising. Recently proposed Block matching and 3D (BM3D) filtering added a new dimension to the study of denoising. BM3D is the current state-of-the-art of denoising and is capable of achieving better denoising as compared to any other existing method. However, there is room to improve BM3D to achieve high-quality denoising. In this study, to improve BM3D, we first attempted to improve the Wiener filter (the core of BM3D) by maximizing the structural similarity (SSIM) between the true and the estimated image, instead of minimizing the mean square error (MSE) between them. Moreover, for the DC-only BM3D profile, we introduced a 3D zigzag thresholding. Experimental results demonstrate that regardless of the type of the image, our proposed method achieves better denoising performance than that of BM3D.

Patch-based models and algorithms for image denoising: a comparative review between patch-based images denoising methods for additive noise reduction.

BACKGROUND: Digital images are captured using sensors during the data acquisition phase, where they are often contaminated by noise (an undesired random signal). Such noise can also be produced during transmission or by poor-quality lossy image compression. Reducing the noise and enhancing the images are considered the central process to all other digital image processing tasks. The improvement in the performance of image denoising methods would contribute greatly on the results of other image processing techniques. Patch-based denoising methods recently have merged as the state-of-the-art denoising approaches for various additive noise levels. In this work, the use of the state-of-the-art patch-based denoising methods for additive noise reduction is investigated. Various types of image datasets are addressed to conduct this study. METHODS: We first explain the type of noise in digital images and discuss various image denoising approaches, with a focus on patch-based denoising methods. Then, we experimentally evaluate both quantitatively and qualitatively the patch-based denoising methods. The patch-based image denoising methods are analyzed in terms of quality and computational time. RESULTS: Despite the sophistication of patch-based image denoising approaches, most patch-based image denoising methods outperform the rest. Fast patch similarity measurements produce fast patch-based image denoising methods. CONCLUSION: Patch-based image denoising approaches can effectively reduce noise and enhance images. Patch-based image denoising approach is the state-of-the-art image denoising approach.