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2015, vol. 43, br. 1, str. 47-54
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Kalibracija RGB-D senzora tipa Kinekt za robotičarske primene
Calibration of Kinect-type RGB-D sensors for robotic applications
Projekat: Razvoj robota kao sredstva za pomoć u prevazilaženju teškoća u razvoju dece (MPNTR - 44008)
Projekat Ministarstva nauke Republike Srbije, br. TR-35003
Sažetak
U radu je predstavljen kalibracioni model pogodan za softversku kalibraciju RGB-D senzora tipa Kinekt. Dodatno, opisana je dvokoračna kalibraciona procedura koja pretpostavlja korišćenje samo prostog šablona u vidu šahovske table. Konačno, u radu je prikazana kalibraciona studija u kojoj je pokazano da tačnost senzora može da se kalibracijom poboljša 3 do 5 puta. Rezultati dobijeni u ovoj studiji korišćenjem kalibracionih modela različite složenosti otkrivaju da je korekcija merenja dubine važna komponenta kalibracije pošto je njome moguće da se za 50% smanje greške u očitavanju senzora.
Abstract
The paper presents a calibration model suitable for software-based calibration of Kinect-type RGB-D sensors. Additionally, it describes a twostep calibration procedure assuming a use of only a simple checkerboard pattern. Finally, the paper presents a calibration case study, showing that the calibration may improve sensor accuracy 3 to 5 times, depending on the anticipated use of the sensor. The results obtained in this study using calibration models of different levels of complexity reveal that depth measurement correction is an important component of calibration as it may reduce by 50% the errors in sensor reading.
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