This paper proposes a depth measurement error model for consumer depth cameras such as the Microsoft Kinect, and a corresponding calibration method. These devices were originally designed as video game interfaces, and...This paper proposes a depth measurement error model for consumer depth cameras such as the Microsoft Kinect, and a corresponding calibration method. These devices were originally designed as video game interfaces, and their output depth maps usually lack sufficient accuracy for 3 D measurement.Models have been proposed to reduce these depth errors, but they only consider camera-related causes.Since the depth sensors are based on projectorcamera systems, we should also consider projectorrelated causes. Also, previous models require disparity observations, which are usually not output by such sensors, so cannot be employed in practice. We give an alternative error model for projector-camera based consumer depth cameras, based on their depth measurement algorithm, and intrinsic parameters of the camera and the projector; it does not need disparity values. We also give a corresponding new parameter estimation method which simply needs observation of a planar board. Our calibrated error model allows use of a consumer depth sensor as a 3 D measuring device.Experimental results show the validity and effectiveness of the error model and calibration procedure.展开更多
基金supported by the JST CREST“Behavior Understanding based on Intention-Gait Model”project
文摘This paper proposes a depth measurement error model for consumer depth cameras such as the Microsoft Kinect, and a corresponding calibration method. These devices were originally designed as video game interfaces, and their output depth maps usually lack sufficient accuracy for 3 D measurement.Models have been proposed to reduce these depth errors, but they only consider camera-related causes.Since the depth sensors are based on projectorcamera systems, we should also consider projectorrelated causes. Also, previous models require disparity observations, which are usually not output by such sensors, so cannot be employed in practice. We give an alternative error model for projector-camera based consumer depth cameras, based on their depth measurement algorithm, and intrinsic parameters of the camera and the projector; it does not need disparity values. We also give a corresponding new parameter estimation method which simply needs observation of a planar board. Our calibrated error model allows use of a consumer depth sensor as a 3 D measuring device.Experimental results show the validity and effectiveness of the error model and calibration procedure.
