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Calibration of Kinect-type RGB-D sensors for robotic applications

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2015
719.pdf (455.6Kb)
Authors
Karan, Branko
Article (Published version)
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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 calibration
Source:
FME Transactions, 2015, 43, 47-54
Publisher:
  • Belgrade : University of belgrade, Faculty of Mechanical Engineering
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
[ Google Scholar ]
12
11
URI
http://dais.sanu.ac.rs/123456789/722
Collections
  • ITN SANU - Opšta kolekcija / ITS SASA - General collection
Institution
Институт техничких наука САНУ / Institute of Technical Sciences of SASA
TY  - JOUR
AU  - Karan, Branko
PY  - 2015
UR  - http://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
ER  - 
@article{
author = "Karan, Branko",
year = "2015",
url = "http://dais.sanu.ac.rs/123456789/722",
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"
}
Karan B. Calibration of Kinect-type RGB-D sensors for robotic applications. FME Transactions. 2015;43:47-54
,& Karan, B. (2015). Calibration of Kinect-type RGB-D sensors for robotic applications.
FME TransactionsBelgrade : University of belgrade, Faculty of Mechanical Engineering., 43, 47-54. 
https://doi.org/10.5937/fmet1501047K
Karan Branko, "Calibration of Kinect-type RGB-D sensors for robotic applications" 43 (2015):47-54,
https://doi.org/10.5937/fmet1501047K .

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