research-article

A metrological characterization of the Kinect V2 time-of-flight camera

Authors:

Silvio Giancola,

Giacomo Mainetti, and

Remo SalaAuthors Info & Claims

Robotics and Autonomous Systems, Volume 75, Issue PB

Pages 584 - 594

https://doi.org/10.1016/j.robot.2015.09.024

Published: 01 January 2016 Publication History

Abstract

A metrological characterization process for time-of-flight (TOF) cameras is proposed in this paper and applied to the Microsoft Kinect V2. Based on the Guide to the Expression of Uncertainty in Measurement (GUM), the uncertainty of a three-dimensional (3D) scene reconstruction is analysed. In particular, the random and the systematic components of the uncertainty are evaluated for the single sensor pixel and for the complete depth camera. The manufacturer declares an uncertainty in the measurement of the central pixel of the sensor of about few millimetres (Kinect for Windows Features, 2015), which is considerably better than the first version of the Microsoft Kinect (Chow et al., 2012 1). This work points out that performances are highly influenced by measuring conditions and environmental parameters of the scene; actually the 3D point reconstruction uncertainty can vary from 1.5 to tens of millimetres. The temperature of the Kinect V2 has an influence in the distance measurement.The casual uncertainty increases with the depth and the radial coordinate.The systematic uncertainty follows a harmonic trend called "wiggling error".Different materials and surfaces generate small offset in the depth measurement.Multiple reflections generate distortions in concave 3D geometry reconstruction.

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Cited By

Usamentiaga R(2022)CPU and GPU real-time filtering methods for dense surface metrology using general matrix to matrix multiplicationsJournal of Real-Time Image Processing10.1007/s11554-022-01204-419:3(517-527)Online publication date: 1-Jun-2022
https://dl.acm.org/doi/10.1007/s11554-022-01204-4
Shen VSpann JHarrison C(2021)FarOut Touch: Extending the Range of ad hoc Touch Sensing with Depth CamerasProceedings of the 2021 ACM Symposium on Spatial User Interaction10.1145/3485279.3485281(1-12)Online publication date: 9-Nov-2021
https://dl.acm.org/doi/10.1145/3485279.3485281
Gao YEsquivel SKoch RZiegler MZilly FKeinert J(2017)A novel kinect V2 registration method for large-displacement environments using camera and scene constraints2017 IEEE International Conference on Image Processing (ICIP)10.1109/ICIP.2017.8296431(997-1001)Online publication date: 17-Sep-2017
https://dl.acm.org/doi/10.1109/ICIP.2017.8296431
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cover image Robotics and Autonomous Systems

Robotics and Autonomous Systems Volume 75, Issue PB

January 2016

582 pages

ISSN:0921-8890

Issue’s Table of Contents

Copyright © Elsevier B.V.

Publisher

North-Holland Publishing Co.

Netherlands

Publication History

Published: 01 January 2016

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Cited By

Usamentiaga R(2022)CPU and GPU real-time filtering methods for dense surface metrology using general matrix to matrix multiplicationsJournal of Real-Time Image Processing10.1007/s11554-022-01204-419:3(517-527)Online publication date: 1-Jun-2022
https://dl.acm.org/doi/10.1007/s11554-022-01204-4
Shen VSpann JHarrison C(2021)FarOut Touch: Extending the Range of ad hoc Touch Sensing with Depth CamerasProceedings of the 2021 ACM Symposium on Spatial User Interaction10.1145/3485279.3485281(1-12)Online publication date: 9-Nov-2021
https://dl.acm.org/doi/10.1145/3485279.3485281
Gao YEsquivel SKoch RZiegler MZilly FKeinert J(2017)A novel kinect V2 registration method for large-displacement environments using camera and scene constraints2017 IEEE International Conference on Image Processing (ICIP)10.1109/ICIP.2017.8296431(997-1001)Online publication date: 17-Sep-2017
https://dl.acm.org/doi/10.1109/ICIP.2017.8296431
Fornaser ATomasin PDe Cecco MTavernini MZanetti M(2017)Automatic graph based spatiotemporal extrinsic calibration of multiple Kinect V2 ToF camerasRobotics and Autonomous Systems10.1016/j.robot.2017.09.00798:C(105-125)Online publication date: 1-Dec-2017
https://dl.acm.org/doi/10.1016/j.robot.2017.09.007
Lopes DParreira PPaulo SNunes VRego PNeves MRodrigues PJorge J(2017)On the utility of 3D hand cursors to explore medical volume datasets with a touchless interfaceJournal of Biomedical Informatics10.1016/j.jbi.2017.07.00972:C(140-149)Online publication date: 1-Aug-2017
https://dl.acm.org/doi/10.1016/j.jbi.2017.07.009

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