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Passive infrared thermographic imaging for mobile robot object identification

The usefulness of thermal infrared imaging as a mobile robot sensing modality is explored, and a set of thermal–physical features used to characterize passive thermal objects in outdoor environments is described. Objects that extend laterally beyond the thermal camera's field of view, such as brick walls, hedges, picket fences, and wood walls, as well as compact objects that are laterally within the thermal camera's field of view, such as metal poles and tree trunks, are considered. Classification of passive thermal objects is a subtle process because they are not a source for their own emission of thermal energy. A detailed analysis is included of the acquisition and preprocessing of thermal images, as well as the generation and selection of thermal–physical features from these objects within thermal images. Classification performance using these features is discussed, as a precursor to the design of a physics‐based model to automatically classify these objects. Published 2009 Wiley Periodicals, Inc. * This article is a US Government work and, as such, is in the public domain of the United States of America.