Calibration of Kinect-type RGB-D sensors for robotic applications
Abstract
The paper presents a calibration model suitable for software-based calibration of Kinect-type RGB-D sensors. Additionally, it describes a two-step calibration procedure assuming a use of only a simple checkerboard pattern. Finally, the paper presents a calibration case study, showing that the calibration may improve sensor accuracy 3 to 5 times, depending on the anticipated use of the sensor. The results obtained in this study using calibration models of different levels of complexity reveal that depth measurement correction is an important component of calibration as it may reduce by 50% the errors in sensor reading.
Keywords:
robot vision / Microsoft Kinect / 3D sensing / depth camera / camera calibrationSource:
FME Transactions, 2015, 43, 47-54Publisher:
- Belgrade : University of belgrade, Faculty of Mechanical Engineering
Funding / projects:
- Research and development of ambient-intelligent service robots with anthropomorphic characteristics (RS-35003)
- Design of Robot as Assistive Technology in Treatement of Children with Developmental Disorders (RS-44008)
DOI: 10.5937/fmet1501047K
ISSN: 1451-2092
WoS: 000409729600008
Scopus: 2-s2.0-84925247511
Institution/Community
Институт техничких наука САНУ / Institute of Technical Sciences of SASATY - JOUR AU - Karan, Branko PY - 2015 UR - https://dais.sanu.ac.rs/123456789/722 AB - The paper presents a calibration model suitable for software-based calibration of Kinect-type RGB-D sensors. Additionally, it describes a two-step calibration procedure assuming a use of only a simple checkerboard pattern. Finally, the paper presents a calibration case study, showing that the calibration may improve sensor accuracy 3 to 5 times, depending on the anticipated use of the sensor. The results obtained in this study using calibration models of different levels of complexity reveal that depth measurement correction is an important component of calibration as it may reduce by 50% the errors in sensor reading. PB - Belgrade : University of belgrade, Faculty of Mechanical Engineering T2 - FME Transactions T1 - Calibration of Kinect-type RGB-D sensors for robotic applications SP - 47 EP - 54 VL - 43 DO - 10.5937/fmet1501047K UR - https://hdl.handle.net/21.15107/rcub_dais_722 ER -
@article{ author = "Karan, Branko", year = "2015", abstract = "The paper presents a calibration model suitable for software-based calibration of Kinect-type RGB-D sensors. Additionally, it describes a two-step calibration procedure assuming a use of only a simple checkerboard pattern. Finally, the paper presents a calibration case study, showing that the calibration may improve sensor accuracy 3 to 5 times, depending on the anticipated use of the sensor. The results obtained in this study using calibration models of different levels of complexity reveal that depth measurement correction is an important component of calibration as it may reduce by 50% the errors in sensor reading.", publisher = "Belgrade : University of belgrade, Faculty of Mechanical Engineering", journal = "FME Transactions", title = "Calibration of Kinect-type RGB-D sensors for robotic applications", pages = "47-54", volume = "43", doi = "10.5937/fmet1501047K", url = "https://hdl.handle.net/21.15107/rcub_dais_722" }
Karan, B.. (2015). Calibration of Kinect-type RGB-D sensors for robotic applications. in FME Transactions Belgrade : University of belgrade, Faculty of Mechanical Engineering., 43, 47-54. https://doi.org/10.5937/fmet1501047K https://hdl.handle.net/21.15107/rcub_dais_722
Karan B. Calibration of Kinect-type RGB-D sensors for robotic applications. in FME Transactions. 2015;43:47-54. doi:10.5937/fmet1501047K https://hdl.handle.net/21.15107/rcub_dais_722 .
Karan, Branko, "Calibration of Kinect-type RGB-D sensors for robotic applications" in FME Transactions, 43 (2015):47-54, https://doi.org/10.5937/fmet1501047K ., https://hdl.handle.net/21.15107/rcub_dais_722 .