High-resolution, real-time simultaneous 3D surface geometry and temperature measurement.

This paper presents a method to simultaneously measure three-dimensional (3D) surface geometry and temperature in real time. Specifically, we developed 1) a holistic approach to calibrate both a structured light system and a thermal camera under exactly the same world coordinate system even though these two sensors do not share the same wavelength; and 2) a computational framework to determine the sub-pixel corresponding temperature for each 3D point as well as discard those occluded points. Since the thermal 2D imaging and 3D visible imaging systems do not share the same spectrum of light, they can perform sensing simultaneously in real time: we developed a hardware system that can achieve real-time 3D geometry and temperature measurement at 26 Hz with 768 × 960 points per frame.