Accuracy improvements of consumer-grade 3D sensors for robotic applications
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 sensorsSource:
Proceedings of the IEEE 11th International Symposium on Intelligent Systems and Informatics (SISY 2013), September 26-28, 2013, Subotica, Serbia, 2013, 141-146Publisher:
- 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
Institution/Community
Институт техничких наука САНУ / Institute of Technical Sciences of SASATY - 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 .