Spatial Uncertainty Model for Visual Features Using a Kinect？ Sensor 英文参考文献.docVIP

Sensors 2012, 12, 8640-8662; doi:10.3390/s120708640 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article Spatial Uncertainty Model for Visual Features Using a Kinect? Sensor Jae-Han Park *, Yong-Deuk Shin, Ji-Hun Bae and Moon-Hong Baeg Robot Convergence R D Group, Korea Institute of Industrial Technology (KITECH), 1271-18, Sa-3-dong, Sangrok-gu, Ansan 426791, Korea; E-Mails: syd@kitech.re.kr (Y.-D.S.); joseph@kitech.re.kr (J.-H.B.); mhbaeg@kitech.re.kr (M.-H.B.) * Author to whom correspondence should be addressed; E-Mail: hans1024@kitech.re.kr; Tel.: +82-31-8040-6273; Fax: +82-31-8040-6270. Received: 18 May 2012; in revised form: 12 June 2012 / Accepted: 13 June 2012 / Published: 26 June 2012 Abstract: This study proposes a mathematical uncertainty model for the spatial measurement of visual features using Kinect? sensors. This model can provide qualitative and quantitative analysis for the utilization of Kinect? sensors as 3D perception sensors. In order to achieve this objective, we derived the propagation relationship of the uncertainties between the disparity image space and the real Cartesian space with the mapping function between the two spaces. Using this propagation relationship, we obtained the mathematical model for the covariance matrix of the measurement error, which represents the uncertainty for spatial position of visual features from Kinect? sensors. In order to derive the quantitative model of spatial uncertainty for visual features, we estimated the covariance matrix in the disparity image space using collected visual feature data. Further, we computed the spatial uncertainty information by applying the covariance matrix in the disparity image space and the calibrated sensor parameters to the proposed mathematical model. This spatial uncertainty model was verified by comparing the uncertainty ellipsoids for spatial co