Low-cost raycast-based coordinate system registration for consumer depth cameras

Abstract

We present four raycast-based techniques that determine the transformation between a depth camera's coordinate system and the coordinate system defined by a rectangular surface. In addition, the surface's dimensions are measured. In contrast to other approaches, these techniques limit additional hardware requirements to commonly available, low-cost artifacts and focus on simple non-laborious procedures. A preliminary study examining our Kinect v2-based proof of concept revealed promising first results. The utilized software is available as an open-source project.