Thermal and range fusion for a planetary rover

Abstract

This paper describes how fusion between thermal and range imaging allows us to discriminate different types of materials in outdoor scenes. First, we analyze how pure vision segmentation algorithms applied to thermal images allow discriminating materials such as rock and sand. Second, we show how combining thermal and range information allows us to better discriminate rocks from sand. Third, as an application, we examine how an autonomous legged robot can use these techniques to explore other planets.