Robust Localization and Mapping in Low-Visibility Environments using Thermal Imaging

Research Project

Project/Area Number	25K01205
Research Category	Grant-in-Aid for Scientific Research (B)
Allocation Type	Multi-year Fund
Section	一般
Review Section	Basic Section 20020:Robotics and intelligent system-related
Research Institution	Kansai University
Principal Investigator	ラサミーポチャラ関西大学, システム理工学部, 准教授 (50772448)
Co-Investigator(Kenkyū-buntansha)	前泰志関西大学, システム理工学部, 教授 (50304027) 浦西友樹大阪大学, サイバーメディアセンター, 教授 (00533738) 新井健生電気通信大学, 脳・医工学研究センター, 客員教授 (90301275)
Project Period (FY)	2025-04-01 – 2028-03-31
Project Status	Granted (Fiscal Year 2025)
Budget Amount *help	¥18,850,000 (Direct Cost: ¥14,500,000、Indirect Cost: ¥4,350,000) Fiscal Year 2027: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000) Fiscal Year 2026: ¥3,250,000 (Direct Cost: ¥2,500,000、Indirect Cost: ¥750,000) Fiscal Year 2025: ¥13,390,000 (Direct Cost: ¥10,300,000、Indirect Cost: ¥3,090,000)
Keywords	Thermal imaging / Low-visibility / 3D reconstruction
Outline of Research at the Start	We aim to develop AI-driven methods that fuse thermal and other sensor data to map low-visibility environments (e.g. dust, fog) for autonomous robot navigation. The thermal gradient enhancement team will sharpen image gradients to reveal subtle details. The reflection analysis team will model and mitigate internal reflection artifacts. The dynamic thermal change detection team will build real-time algorithms to track evolving thermal signatures. All components will be integrated and validated end-to-end to ensure reliable performance across challenging conditions.