RGB-D-T Sensor Fusion

In this project, we developed a multimodal perception system that is composed of a RGB-D camera and a thermal camera. Customized calibration tools and algorithms are designed to obtain the extrinsic matrix of the thermal camera with respect to the depth camera frame. By optimizing the projection calculation, the system outputs RGB-D-T point cloud at 5 Hz.

For more details, please see Video 1