Accuracy and Resolution of Kinect Depth Data for Indoor Mapping Applications
TL;DR: The calibration of the Kinect sensor is discussed, and an analysis of the accuracy and resolution of its depth data is provided, based on a mathematical model of depth measurement from disparity.
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Abstract: Consumer-grade range cameras such as the Kinect sensor have the potential to be used in mapping applications where accuracy requirements are less strict. To realize this potential insight into the geometric quality of the data acquired by the sensor is essential. In this paper we discuss the calibration of the Kinect sensor, and provide an analysis of the accuracy and resolution of its depth data. Based on a mathematical model of depth measurement from disparity a theoretical error analysis is presented, which provides an insight into the factors influencing the accuracy of the data. Experimental results show that the random error of depth measurement increases with increasing distance to the sensor, and ranges from a few millimeters up to about 4 cm at the maximum range of the sensor. The quality of the data is also found to be influenced by the low resolution of the depth measurements.
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Citations
Validity of an Interactive Functional Reach Test
TL;DR: Software is developed that will enable the Kinect sensor to assess a patient's balance using an interactive functional reach test (I-FRT), which was tested among 20 healthy adults and established the feasibility of implementing the I- FRT in a clinical setting.
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Measurement and Analysis of Depth Resolution Using Active Stereo Cameras
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TL;DR: In this paper, the authors used a flat target and moved a depth camera at specified steps to form a stair-shaped depth map, and then the depth map was compressed to one-dimensional profile by an average cross-section method.
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End-to-End Probabilistic Depth Perception and 3D Obstacle Avoidance using POMDP
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A versatile calibration procedure for portable coded aperture gamma cameras and RGB-D sensors
TL;DR: In this article, the authors proposed a geometrical calibration of coded aperture gamma cameras and RGB-D depth sensors, using only one radioactive point source and a simple experimental set-up.
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