Consumer RGB D Cameras and their Applications（消费者RGB D相机和他们的应用程序）.pdfVIP

Consumer RGB-D Cameras and their Applications Krystof Litomisky klitomis@ University of California, Riverside Spring 2012 Introduction In November 2010, Microsoft released the Kinect RGB-D sensor as a new Natural User Interface (NUI) for its XBOX 360 gaming platform. The Kinect, like other RGB-D sensors, provides color information as well as the estimated depth for each pixel. At $150, the Kinect is an order of magnitude cheaper than similar sensors that had existed before it. This has dramatically reinvigorated interest in RGB-D sensors and their applications in areas such as Natural User Interfaces, reconstruction and virtual reality, or 3D mapping. The purpose of this document is to provide an overview of currently-available consumer RGB-D sensors, applications for which these sensors are being used, and various supporting frameworks (such as libraries and SDKs). The main focus of this document is on the applications of RGB-D sensors to three-dimensional mapping. Krystof Litomisky Consumer RGB-D Cameras and their Applications 2 Table of Contents Introduction 1 Table of Contents 2 1. Consumer RGB-D Sensors 3 1.1. Technology 3 1.2. Devices 4 Microsoft Kinect4 Asus Xtion PRO LIVE 5 The Leap 6 1.3. Depth Resolution 6 2. 3D Mapping and Control Applications 8 RGB-D Mapping 8 Interactive 3D Modeling of Indoor Environments 9 Autonomous Flight 10 Realtime Visual and Point Cloud SLAM 13 Towards a Benchmark for RGB-D SLAM 14 3. Reconstruction and Virtual Reality 14 KinectFusion 15 4. Natural User Interfaces (NUIs) 15 5. Libraries and SDKs 16 5.1. Point Cloud Lib