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.
read more
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.
read more
Chat with Paper
AI Agents for this Paper
Find similar papers on Google Scholar, PubMed and Arxiv
Write a critical review of this paper
Analyze citations of this paper to find unaddressed research gaps
Citations
•Dissertation
Human Gait Characterization using Kinect
Raquel Kale Moyano
- 03 Dec 2015
TL;DR: This paper presents a meta-analyses of the Gait Cycle and its applications in the context of Kinect and investigates its role in the development of kinesthetic perception.
•Dissertation
Caractérisation des spécificités motrices d'utilisateurs en situation de handicap
Julien Veytizou
- 09 Dec 2014
TL;DR: The KinectLAB as mentioned in this paper is a system for the conception of a musical instrument in the context of a situation of handicap, where a person can use a set of skills to assist in the performance of a piece of music.
8
Monte Carlo-based 3D surface point cloud volume estimation by exploding local cubes faces
Nicola Covre,Alessandro Luchetti,Matteo Lancini,Simone Pasinetti,Enrico Bertolazzi,M. De Cecco +5 more
TL;DR: In this paper , a modified extension of the Monte Carlo integration approach is proposed for estimating the 3D volume enclosed in a surface point cloud via an affiliation criterion, which consists of a pre-processing of the surface point clouds, a sequential generation of points managed by an affiliation criteria, and the final computation of the volume.
Combined Dynamic Time Warping with Multiple Sensors for 3D Gesture Recognition.
Hyo-Rim Choi,TaeYong Kim +1 more
TL;DR: In the proposed method, the viewpoint-weighted dynamic time warping with multiple sensors has enhanced performance by preventing joint measurement errors and noise due to sensor measurement tolerance, which has resulted in the enhancement of recognition performance by comparing multiple joint sequences effectively.
8
Automated Image-Based Reconsturction on building intoriors - a case study
Ville V. Lehtola,Matti Kurkela,Hannu Hyyppä +2 more
- 01 Jan 2014
TL;DR: In 3D reconstruction of indoor environments, automated methods offer possibilities for e.g. brokering, planning and decoration businesses.
8
References
Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography
TL;DR: New results are derived on the minimum number of landmarks needed to obtain a solution, and algorithms are presented for computing these minimum-landmark solutions in closed form that provide the basis for an automatic system that can solve the Location Determination Problem under difficult viewing.
A method for registration of 3-D shapes
Paul J. Besl,H.D. McKay +1 more
TL;DR: In this paper, the authors describe a general-purpose representation-independent method for the accurate and computationally efficient registration of 3D shapes including free-form curves and surfaces, based on the iterative closest point (ICP) algorithm, which requires only a procedure to find the closest point on a geometric entity to a given point.
20.6K
Efficient variants of the ICP algorithm
Szymon Rusinkiewicz,Marc Levoy +1 more
- 01 May 2001
TL;DR: An implementation is demonstrated that is able to align two range images in a few tens of milliseconds, assuming a good initial guess, and has potential application to real-time 3D model acquisition and model-based tracking.
KinectFusion: real-time 3D reconstruction and interaction using a moving depth camera
Shahram Izadi,David Kim,Otmar Hilliges,David Molyneaux,Richard Newcombe,Pushmeet Kohli,Jamie Shotton,Steve Hodges,Dustin Freeman,Andrew J. Davison,Andrew Fitzgibbon +10 more
- 16 Oct 2011
TL;DR: Novel extensions to the core GPU pipeline demonstrate object segmentation and user interaction directly in front of the sensor, without degrading camera tracking or reconstruction, to enable real-time multi-touch interactions anywhere.
RGB-D Mapping: Using Depth Cameras for Dense 3D Modeling of Indoor Environments
Peter Henry,Michael Krainin,Evan Herbst,Xiaofeng Ren,Dieter Fox +4 more
- 01 Jan 2014
TL;DR: This paper presents RGB-D Mapping, a full 3D mapping system that utilizes a novel joint optimization algorithm combining visual features and shape-based alignment to achieve globally consistent maps.
1K