A comparison of an RGB-D camera's performance and a stereocamera in relation to object recognition and spatial position determination
Rodriguez, Julian Severiano (Universidad de San Buenaventura (Bogotá, Colombia))

Fecha:	2021
Resumen:	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.
Derechos:	Aquest document està subjecte a una llicència d'ús Creative Commons. Es permet la reproducció total o parcial, la distribució, i la comunicació pública de l'obra, sempre que no sigui amb finalitats comercials, i sempre que es reconegui l'autoria de l'obra original. No es permet la creació d'obres derivades.
Lengua:	Anglès
Documento:	Article ; recerca ; Versió publicada
Materia:	Stereo camera ; 3d coordinates ; Descriptors ; Kinect ; Image processing ; Object recognition
Publicado en:	ELCVIA. Electronic letters on computer vision and image analysis, Vol. 20 Núm. 1 (2021) , p. 16-27 (Regular Issue) , ISSN 1577-5097

Adreça original: https://elcvia.cvc.uab.es/article/view/v20-n1-Rodriguez
DOI: 10.5565/rev/elcvia.1238

13 p, 2.0 MB

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