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Accuracy improvements of consumer-grade 3D sensors for robotic applications

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2013
Authors
Karan, Branko
Conference object (Published version)
Metadata
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Abstract
Recent advances in development of low-cost 3D sensors, such as Microsoft Kinect, bring attractive opportunities to robot system integrators. The accuracy provided by such sensors is generally unsatisfactory for many robotic applications, but it may be improved through calibration. This paper presents a calibration case study that is based on the sensor calibration procedure involving only a use of a simple checkerboard. It is shown that the calibration enables improving sensor accuracy 3 to 5 times, depending on the anticipated use of the sensor. Additionally, results obtained using different levels of complexity of calibration models reveal that depth measurement correction is an important component of calibration as it may reduce by 50% the errors in sensor reading.
Keywords:
calibration / Microsoft Kinect / robot sensing systems / robot vision / image sensors
Source:
Proceedings of the IEEE 11th International Symposium on Intelligent Systems and Informatics (SISY 2013), September 26-28, 2013, Subotica, Serbia, 2013, 141-146
Publisher:
  • IEEE
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: 10.1109/SISY.2013.6662558

ISBN: 978-1-4799-0303-0

Scopus: 2-s2.0-84892499452
[ Google Scholar ]
8
Handle
https://hdl.handle.net/21.15107/rcub_dais_741
URI
https://dais.sanu.ac.rs/123456789/741
Collections
  • ИТН САНУ - Општа колекција / ITS SASA - General collection
Institution/Community
Институт техничких наука САНУ / Institute of Technical Sciences of SASA
TY  - CONF
AU  - Karan, Branko
PY  - 2013
UR  - https://dais.sanu.ac.rs/123456789/741
AB  - Recent advances in development of low-cost 3D sensors, such as Microsoft Kinect, bring attractive opportunities to robot system integrators. The accuracy provided by such sensors is generally unsatisfactory for many robotic applications, but it may be improved through calibration. This paper presents a calibration case study that is based on the sensor calibration procedure involving only a use of a simple checkerboard. It is shown that the calibration enables improving sensor accuracy 3 to 5 times, depending on the anticipated use of the sensor. Additionally, results obtained using different levels of complexity of calibration models reveal that depth measurement correction is an important component of calibration as it may reduce by 50% the errors in sensor reading.
PB  - IEEE
C3  - Proceedings of the IEEE 11th International Symposium on Intelligent Systems and Informatics (SISY 2013), September 26-28, 2013, Subotica, Serbia
T1  - Accuracy improvements of consumer-grade 3D sensors for robotic applications
SP  - 141
EP  - 146
DO  - 10.1109/SISY.2013.6662558
UR  - https://hdl.handle.net/21.15107/rcub_dais_741
ER  - 
@conference{
author = "Karan, Branko",
year = "2013",
abstract = "Recent advances in development of low-cost 3D sensors, such as Microsoft Kinect, bring attractive opportunities to robot system integrators. The accuracy provided by such sensors is generally unsatisfactory for many robotic applications, but it may be improved through calibration. This paper presents a calibration case study that is based on the sensor calibration procedure involving only a use of a simple checkerboard. It is shown that the calibration enables improving sensor accuracy 3 to 5 times, depending on the anticipated use of the sensor. Additionally, results obtained using different levels of complexity of calibration models reveal that depth measurement correction is an important component of calibration as it may reduce by 50% the errors in sensor reading.",
publisher = "IEEE",
journal = "Proceedings of the IEEE 11th International Symposium on Intelligent Systems and Informatics (SISY 2013), September 26-28, 2013, Subotica, Serbia",
title = "Accuracy improvements of consumer-grade 3D sensors for robotic applications",
pages = "141-146",
doi = "10.1109/SISY.2013.6662558",
url = "https://hdl.handle.net/21.15107/rcub_dais_741"
}
Karan, B.. (2013). Accuracy improvements of consumer-grade 3D sensors for robotic applications. in Proceedings of the IEEE 11th International Symposium on Intelligent Systems and Informatics (SISY 2013), September 26-28, 2013, Subotica, Serbia
IEEE., 141-146.
https://doi.org/10.1109/SISY.2013.6662558
https://hdl.handle.net/21.15107/rcub_dais_741
Karan B. Accuracy improvements of consumer-grade 3D sensors for robotic applications. in Proceedings of the IEEE 11th International Symposium on Intelligent Systems and Informatics (SISY 2013), September 26-28, 2013, Subotica, Serbia. 2013;:141-146.
doi:10.1109/SISY.2013.6662558
https://hdl.handle.net/21.15107/rcub_dais_741 .
Karan, Branko, "Accuracy improvements of consumer-grade 3D sensors for robotic applications" in Proceedings of the IEEE 11th International Symposium on Intelligent Systems and Informatics (SISY 2013), September 26-28, 2013, Subotica, Serbia (2013):141-146,
https://doi.org/10.1109/SISY.2013.6662558 .,
https://hdl.handle.net/21.15107/rcub_dais_741 .

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