Abstract
Consumer-grade range cameras such as the Kinect sensor have the potential to be used in mapping applications where accuracy requirements are less strict. To realize this potential insight into the geometric quality of the data acquired by the sensor is essential. In this paper we discuss the calibration of the Kinect sensor, and provide an analysis of the accuracy and resolution of its depth data. Based on a mathematical model of depth measurement from disparity a theoretical error analysis is presented, which provides an insight into the factors influencing the accuracy of the data. Experimental results show that the random error of depth measurement increases with increasing distance to the sensor, and ranges from a few millimeters up to about 4 cm at the maximum range of the sensor. The quality of the data is also found to be influenced by the low resolution of the depth measurements.
Highlights
Low-cost range sensors are an attractive alternative to expensive laser scanners in application areas such as indoor mapping, surveillance, robotics and forensics
We present a mathematical model for obtaining 3D object coordinates from the raw image measurements, and discuss the calibration parameters involved in the model
The paper presented a theoretical and experimental analysis of the geometric quality of depth data acquired by the Kinect sensor
Summary
Low-cost range sensors are an attractive alternative to expensive laser scanners in application areas such as indoor mapping, surveillance, robotics and forensics. Kinect was primarily designed for natural interaction in a computer game environment [2]. The characteristics of the data captured by Kinect have attracted the attention of researchers from other fields [3,4,5,6,7,8,9,10,11] including mapping and 3D modeling [12,13,14,15]. A demonstration of the potential of Kinect for 3D modeling of indoor environments can be seen in the work of Henry et al [16].
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