RGB-D-T camera system for AR display of temperature change

The anomalies of power equipment can be founded using temperature changes compared to its normal state. In this paper we present a system for visualizing temperature changes in a scene using a thermal 3D model. Our approach is based on two precomputed 3D models of the target scene achieved with a RGB-D camera coupled with the thermal camera. The first model contains the RGB information, while the second one contains the thermal information. For comparing the status of the temperature between the model and the current time, we accurately estimate the pose of the camera by finding keypoint correspondences between the current view and the RGB 3D model. Knowing the pose of the camera, we are then able to compare the thermal 3D model with the current status of the temperature from any viewpoint.