Enhancing Metric Perception with RGB-D Camera

Metric measurement of environment has fundamental role in tasks such as interior design and plant maintenance. Conventional methods for these tasks suffer from high development cost or unstability. We propose a mobile metric perception enhancement system which focuses on interactivity through user locomotion. The proposed system overlays geometric annotations in real-time on a tablet device. The annotation is generated from RGB-D camera in per-frame basis, alleviating the object recognition problem by effectively utilizing processing power of human. We show a few illustrative cases where the system is tested, and discuss correctness of annotations.