Sphere Fitting On MS Kinect Point Cloud

Bence, Molnar [Molnár, Bence (Térinformatika és...), szerző] Fotogrammetria és Térinformatika Tanszék (BME / ÉMK); Charles, K Toth; Dorota, A Grejner-Brzezinska

Angol nyelvű Tudományos Konferenciaközlemény (Egyéb konferenciaközlemény)
    The Microsoft Kinect sensor is getting prominent in several applications beyond the original field of videogames. The main advantage of this 3D measurement device is the low price and easy software development. Kinect has a Flash LiDAR type sensor and RGB camera to provide colored 3D point cloud acquisition. Based on previous accuracy investigations, the range calibration results were found rather good for a low-end device. The accuracy, however, can be further increased with more sophisticated sensor calibration, especially by using the IR intensity values for co-registration, as the number of matching points between the depth and RGB images can be further increased, which may yield to better calibration performance. Previous experiences indicated some object distance dependent scaling issues for depth calculation; objects farther than 2 meters are scaled down, caused by the measurement quantization required for data transmission. In addition, the spacing of the points is growing with the object distance. This means that the common sphere fitting methods fail with Kinect on farther objects. Therefore, a new fitting method was developed for sphere fitting on Kinect acquired point cloud, which yields better results, even over 2 meters. This way, the raw measurement values can have high accuracy and, in particular, if some preliminary information about the object morphology exists.
    Hivatkozás stílusok: IEEEACMAPAChicagoHarvardCSLMásolásNyomtatás
    2021-03-05 05:02