A comparison of an RGB-D cameras performance and a stereo camera in relation to object recognition and spatial position determination

ELCVIA Electronic Letters on Computer Vision and Image Analysis

Julian Severiano Rodriguez¹ 

[1] Universidad de San Buenaventura Bogotá, Colombia;

关键词: Stereo camera;    3D coordinates;    descriptors;    Kinect;    image processing;    object recognition;   

DOI  :  10.5565/rev/elcvia.1238

来源: DOAJ

【 摘 要 】

Results of using an RGB-D camera (Kinect sensor) and a stereo camera, separately, in order to determine the 3D real position of characteristic points of a predetermined object in a scene are presented. KAZE algorithm was used to make the recognition, that algorithm exploits the nonlinear scale space through nonlinear diffusion filtering; 3D coordinates of the centroid of a predetermined object were calculated employing the camera calibration information and the depth parameter provided by a Kinect sensor and a stereo camera. Experimental results show it is possible to get the required coordinates with both cameras in order to locate a robot, although a balance in the distance where the sensor is placed must be guaranteed: no fewer than 0.8 m from the object to guarantee the real depth information, it is due to Kinect operating range; 0.5 m to stereo camera, but it must not be 1 m away to have a suitable rate of object recognition, besides, Kinect sensor has more precision with distance measures regarding a stereo camera.

【 授权许可】

Unknown