IR depth from stereo for autonomous navigation
Bibliographic record
Abstract
Visual computations such as depth-from-stereo are highly dependent on edges and textures for the process of image correspondence. IR images typically lack the necessary detail for producing dense depth maps, however, sparse maps may be adequate for autonomous obstacle avoidance. We have constructed an IR stereo head for eventual UGV and UAV night time navigation. In order to calibrate the unit, we have constructed a thermal calibration checkerboard. We show that standard stereo camera calibration based on a checkerboard developed for calibrating visible spectrum cameras can also be used for calibrating an IR stereo pair, with of course hot/cold squares used as opposed to black/white squares. Once calibrated, the intrinsic and extrinsic parameters for each camera provide the absolute depth value if a left-right correspondence can be established. Given the general texture-less characteristic of IR imagery, selecting key salient features that are left-right stable and tractable is key for producing a sparse depth map. IR imagery, like visible and range maps is highly spatially correlated and a dense map can be obtained from a sparse map via propagation. Preliminary results from salient IR feature detection are investigated as well.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.001 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.001 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.000 | 0.001 |
| Research integrity | 0.000 | 0.001 |
| Insufficient payload (model declined to judge) | 0.012 | 0.004 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".