跨谱视觉-热成像惯性系统提升复杂光照下定位精度

Standard stereo VIO focuses exclusively on the benefit of metric scale via single-spectrum baselines, often overlooking the risks of spectral redundancy. This structural limitation leads to correlated failures, where both sensors simultaneously fail in degraded environments that affect their shared spectrum. Leveraging a cross-spectral system presents a complementary solution to this issue, yet the significant appearance gap between modalities renders standard matching ineffective. Existing deep learning-based matchers, while effective, introduce inference latencies that violate real-time constraints. To bridge this gap, we present an asynchronous real-time cross-spectral visual-thermal-inertial (VTI) system that temporally decouples high-latency deep matching from high-rate state estimation. Our architecture incorporates a spectral-aware weighting scheme that dynamically balances modality reliance based on photometric entropy and thermal noise, ensuring robustness against both abrupt lighting changes and thermal artifacts. Furthermore, we introduce a seamless handling mechanism for thermal Non-uniformity Correction (NUC) to maintain tracking continuity. Extensive experiments across diverse scenarios confirm that our system overcomes spectral redundancy, yielding superior accuracy in nominal daylight while ensuring robustness in visually degraded environments. We will open source our code and data: https://github.com/seungsang07/cross-spectral-stereo-inertial-odometry