Why Would I Want a Gyroscope on my RGB-D Sensor?
2013 (English)Conference paper, Presentation (Refereed)
Many RGB-D sensors, e.g. the Microsoft Kinect, use rolling shutter cameras. Such cameras produce geometrically distorted images when the sensor is moving. To mitigate these rolling shutter distortions we propose a method that uses an attached gyroscope to rectify the depth scans. We also present a simple scheme to calibrate the relative pose and time synchronization between the gyro and a rolling shutter RGB-D sensor. We examine the effectiveness of our rectification scheme by coupling it with the the Kinect Fusion algorithm. By comparing Kinect Fusion models obtained from raw sensor scans and from rectified scans, we demonstrate improvement for three classes of sensor motion: panning motions causes slant distortions, and tilt motions cause vertically elongated or compressed objects. For wobble we also observe a loss of detail, compared to the reconstruction using rectified depth scans. As our method relies on gyroscope readings, the amount of computations required is negligible compared to the cost of running Kinect Fusion.
Place, publisher, year, edition, pages
IEEE , 2013. 68-75 p.
RGB-D sensor, rolling shutter, Kinect Fusion, Kinect, calibration
Other Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:liu:diva-87751DOI: 10.1109/WORV.2013.6521916ISBN: 978-1-4673-5647-3 (online)ISBN: 978-1-4673-5646-6 (print)OAI: oai:DiVA.org:liu-87751DiVA: diva2:603474
IEEE Workshop on Robot Vision 2013, Clearwater Beach, Florida, USA, January 16-17, 2013
ProjectsEmbodied Visual Object Recognition
FunderSwedish Research Council, Embodied Visual Object Recognition