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Crime scene reconstruction with RGB-D sensors

Amamra Abdenour, Amara Yacine, Boumaza Khalid, Benayad Aissa

Annals of Computer Science and Information Systems

2019

Vol. 18

391-–396

Photographic surveying, a fundamental procedure in crime investigation, is typically performed using 2D cameras. Although useful, such cameras remain limited due to the lack of depth information. In this work, we propose a 3D reconstruction solution that leverages the advantages of cheap RGB-D sensors to create a 3D model of the crime scene and to provide the investigator with an interactive crime scenario simulation environment. A structure from motion approach is proposed in order to align the captured point clouds on each other using 3D key points. An iterative refinement and a global optimization algorithm are later adapted for the optimization of the registered 3D model, which is then triangulated before the underlying surface is reconstructed. The resulting model is used for interactive crime investigation and object dynamics simulation. The obtained results show the effectiveness of our solution with a visually appealing rendering, an accurate simulation and a quantitative error of less than 18cm for the $4m \times 4 m$ indoor scene. An accompanying video is provided in order to illustrate the processing pipeline (https://youtu.be/IYnJSNV7QkI).

RGB-D Sensors in Social Robotics

Dziergwa M., Kaczmarek P., Kędzierski J.

Journal of Automation Mobile Robotics and Intelligent Systems

2015

Vol. 9, No. 1

18--27

This article presents the results of a series of experiments carried out using a Kinect for Windows sensor coupled with dedicated software. The focus of this study is on the use of such devices in the field of social robotics. Two software packages are considered - Microsoft Kinect SDK and OpenNI coupled with NiTE library. Particular emphasis is placed on the parameters affecting the social competencies of a robot, such as the speed of detecting users, the accuracy of establishing position and orientation of a user or stability of the tracking process. Key characteris tics of the evaluated software packages are identified and differences regarding their usage outlined in view of interaction oriented algorithms.