Receiving and processing point clouds from Microsoft Kinect sensor

• Autorzy: Osuchowski J.

Warianty tytułu

PL

Odbiór oraz przetwarzanie chmury punktów otrzymanych z czujnika microsoft KINECT

• Języki publikacji: EN

Abstrakty

EN

In this article, a method for receiving point clouds from Microsoft Kinect sensor is shown. Microsoft Kinect construction, capabilities, functions and some basic point cloud processing method have also been presented. The depth information from the MS Kinect was converted to a point cloud using Point Cloud Library. For point cloud filtering the voxelized grid approach was apply. To detect pipes clusters author use Euclidean cluster extraction. Moreover the Ransac method was employed for plane segmentation.

PL

W artykule opisano metodę odbierania chmury punktów z czujnika Microsoft Kinect. Przedstawiono konstrukcję czujnika Microsoft Kinect, jego możliwości oraz wybrane podstawowe metody przetwarzania chmury punktów. Informacje otrzymane z czujnika MS Kinect zostały przekształcone w chmurze punktów przy wykorzystaniu Point Cloud Library.

• Wydawca: Oficyna Wydawnicza Politechniki Opolskiej
• Czasopismo: Zeszyty Naukowe. Elektryka / Politechnika Opolska
• Rocznik: 2016
• Tom: z. 74
• Strony: 113--117
• Opis fizyczny: Bibliogr. 9 poz., rys.

Twórcy

autor

Osuchowski J.

• Faculty of Electrical Engineering, Automatic Control and Informatics Department of Power Plant Engineering and Measurement Systems

Bibliografia

• [1] DIFILIPPO N.M., JOUANEH M.K.: Characterization of Different Microsoft Kinect Sensor Models, IEEE Sensors Journal, Vol. 15, 2015
• [2] HAN J., SHAO L., XU D., SHOTTON J.: Enhanced computer vision with Microsoft Kinect sensor: A review, IEEE Transactions on Cybernetics, Vol. 43, 2013
• [3] THUMBUNPENG P., RUCHANURUCKS M., KHONGMA A.: Surface area calculation using Kinect’s filtered point cloud with an application of burn care, 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, 2013
• [4] GONZALEZ-JORGE H., RODRIGUEZ-GONZALVEZ P., MARTINEZ-SANCHEZ J., GONZALEZ-AGUILERA D., ARIAS P., GESTO M., DIAZ-VILARINO L.: Metrological comparison between Kinect i and Kinect II sensors, Measurement: Journal of the International Measurement Confederation, Vol. 70, 2015
• [5] CORTI A., GIANCOLA S., MAINETTI G., SALA R.: A metrological characterization of the Kinect V2 time-of-flight camera, Robotics and Autonomous Systems, Vol. 75, 2016
• [6] HISAHARA H., HANE S., TAKEMURA H., CHIN Y., OGITSU T., MIZOGUCHI H.: 3D Point Cloud-Based Virtual Environment for Safe Testing of Robot Control Programs: Measurement Range Expansion through Linking of Multiple Kinect v2 Sensors, 2015 6th International Conference on Intelligent Systems, Modelling and Simulation, 2015
• [7] MUNARO M., RUSU R. B., MENEGATTI E.: 3D robot perception with Point Cloud Library, Robotics and Autonomous Systems, 2016
• [8] RUSU R. B., COUSINS S.: 3D is here: Point Cloud Library (PCL), Proceedings - IEEE International Conference on Robotics and Automation, 2011
• [9] Euclidean Cluster Extraction, 2016. [Online]. Available: http://www.pointclouds.org/-documentation/tutorials/cluster_extraction.php. [Accessed: 03-May-2016]