Calibration of a network of Kinect sensors for robotic inspection over a large workspace

R. Macknojia, A. Chávez-Aragón, P. Payeur, R. Laganière
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引用次数: 50

Abstract

This paper presents an approach for calibrating a network of Kinect devices used to guide robotic arms with rapidly acquired 3D models. The method takes advantage of the rapid 3D measurement technology embedded in the Kinect sensor and provides registration accuracy within the range of the depth measurements accuracy provided by this technology. The internal calibration of the sensor in between the color and depth measurement is also presented. The resulting system is developed to inspect large objects, such as vehicles, positioned within an enlarged field of view created by the network of RGB-D sensors.
校准Kinect传感器网络,用于大型工作空间的机器人检查
本文提出了一种校准Kinect设备网络的方法,该网络用于引导具有快速获取的3D模型的机械臂。该方法利用了Kinect传感器内嵌的快速3D测量技术,并在该技术提供的深度测量精度范围内提供配准精度。介绍了传感器在颜色测量和深度测量之间的内部校准。由此产生的系统被开发用于检查位于RGB-D传感器网络创建的扩大视野内的大型物体,例如车辆。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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