Accuracy and resolution of Kinect depth data for indoor mapping applications.
Accuracy and resolution of Kinect depth data for indoor mapping applications.
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DOI：
10.3390/s120201437
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发表时间：
2012
期刊：
影响因子：
--
通讯作者：
Elberink SO
中科院分区：
文献类型：
--
作者：
Khoshelham K;Elberink SO
消费级测距相机（如Kinect传感器）有可能用于精度要求不太严格的地图应用。为了实现这种潜在的洞察力的几何质量的传感器所获得的数据是必不可少的。在本文中，我们讨论了Kinect传感器的校准，并提供其深度数据的精度和分辨率的分析。基于视差深度测量的数学模型，给出了理论误差分析，分析了影响数据精度的因素。实验结果表明，深度测量的随机误差随着距离传感器的增加而增加，并且在传感器的最大范围内从几毫米到大约4厘米的范围。数据的质量也被认为是由深度测量的低分辨率的影响。
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.
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