Image sensor and thermal camera device, system and method
The present disclosure is directed to devices and methods for synchronizing capturing of spectral images with the capturing of thermal images. A thermal imaging device of an aerial vehicle captures a sequence of thermal image of thermal images. Capturing of spectral images by a spectral imaging device of the aerial vehicle is synchronized with the capturing of the thermal images. Irradiance data indicative of a background temperature is sensed. A digital surface model of an area of interest is generated based on the sequence of spectral images. An emissivity of a target is estimated and a temperature of a pixel of the digital surface model of the target is estimated based on the sequence of thermal images, the irradiance data indicative of the background temperature and the estimated emissivity of the target.
1. A device, comprising:
thermal imaging circuitry, which, in operation, executes a sequence of thermal image capture cycles to capture a sequence of thermal images;
spectral imaging circuitry, which, in operation, executes a sequence of spectral image capture cycles to capture a sequence of spectral images;
inertial motion sensing circuitry, which, in operation, generates data indicative of relative movement of the device; and
control circuitry, coupled to the thermal imaging circuitry, to the spectral imaging circuitry, and to the inertial motion sensing circuitry, wherein the control circuitry, in operation:
synchronizes execution of spectral image capture cycles by the spectral imaging circuitry with execution of thermal image capture cycles by the thermal imaging circuitry; and
estimates a pose of a thermal image of the sequence of thermal images based on the data indicative of relative movement of the device.
2. The device of claim 1 wherein the inertial motion sensing circuitry comprises an accelerometer.
3. The device of claim 1 wherein the inertial motion sensing circuitry comprises a gyroscope.
4. The device of claim 1 wherein the control circuitry, in operation, generates a digital surface model based on the sequence of spectral images.
5. The device of claim 4 wherein the control circuitry, in operation, generates the digital surface model based on the sequence of thermal images.
6. The device of claim 5 wherein the control circuitry, in operation, generates the digital surface model based on the estimated pose of the thermal image.
7. A method, comprising:
executing, by a thermal imaging device, a sequence of thermal image capture cycles to capture a sequence of thermal images;
synchronizing execution, by a spectral imaging device, of spectral image capture cycles to capture a sequence of spectral images with execution of thermal image capture cycles by the thermal imaging device;
capturing inertial motion data with an inertial motion sensor;
estimating a pose of a thermal image in the sequence of thermal images based on the captured inertial motion data; and
generating a digital surface model of an area of interest based on the sequence of spectral images.
8. The method of claim 7 wherein the thermal imaging device, the spectral imaging device, and the inertial motion sensor are fixed with respect to each other on an aerial device.
9. The method of claim 7 , further comprising capturing depth and thermal information about the area with the thermal imaging device and the spectral imaging device.
10. The method of claim 9 , further comprising:
identifying an object from the area in the sequence of spectral images;
generating a point on the digital surface model representative of the object based on the sequence of spectral images;
generating a plurality of thermal measurements from the sequence of thermal images associated with the object;
projecting each of the plurality of thermal measurements on the point on the digital surface model.
11. The method of claim 10 , further comprising:
correlating the plurality of thermal measurements from the sequence of thermal images by associating the inertial measurement data with each thermal image.
12. The method of claim 7 , further comprising capturing inter-frame location information with the inertial measurement data and correlating the inter-frame location information with each thermal images of the sequence of thermal images.
13. A method, comprising:
capturing a sequence of thermal images with thermal imaging circuitry by executing a sequence of thermal image capture cycles;
capturing a sequence of spectral images with spectral imaging circuitry by executing a sequence of spectral image capture cycles; and
processing the sequence of spectral images and the sequence of thermal images with control circuitry coupled to the thermal imaging circuitry and to the spectral imaging circuitry, the processing including:
estimating irradiance data indicative of a background temperature;
synchronizing the capturing of the spectral image capture cycles by the spectral imaging circuitry with the capturing of thermal image capture cycles by the thermal imaging circuitry, the capturing of the thermal image capture cycles being more frequent than the spectral image capture cycles;
generating a digital surface model based on the sequence of spectral images;
estimating an emissivity of a target; and
estimating a temperature of a pixel of the digital surface model based on the sequence of thermal images, the irradiance data indicative of the background temperature and the estimated emissivity of the target.
14. The method of claim 13 wherein the estimating of the irradiance data includes capturing irradiance data with an irradiance data capture device positioned on a first surface of an aerial vehicle, the spectral imaging circuitry and the thermal imaging circuitry being on a second surface of the aerial vehicle that is opposite to the first surface.
15. The method of claim 13 wherein the estimating of the irradiance data includes capturing irradiance data with an irradiance data capture device positioned facing a first direction, the spectral imaging circuitry and the thermal imaging circuitry positioned facing a second direction that is different from the first direction.
16. The method of claim 13 wherein the estimating of the emissivity includes generating the irradiance data from the spectral images.
17. The method of claim 13 wherein the estimating of the emissivity includes generating the irradiance data from the thermal images.
18. The method of claim 13 wherein the estimating of the emissivity includes generating the irradiance data from the spectral images and the thermal images.
19. The method of claim 13 , comprising estimating pixel conditions based on an estimated temperature from the estimating the temperature of the pixel.
20. The method of claim 19 , comprising identifying irrigation leaks based on a pixel occupancy map and the estimated temperature.