Modeling Kinect Sensor Noise for Improved 3D Reconstruction and Tracking

We contribute an empirically derived noise model for the Kinect sensor. We systematically measure both lateral and axial noise distributions, as a function of both distance and angle of the Kinect to an observed surface. The derived noise model can be used to filter Kinect depth maps for a variety of applications. Our second contribution applies our derived noise model to the KinectFusion system to extend filtering, volumetric fusion, and pose estimation within the pipeline. Qualitative results show our method allows reconstruction of finer details and the ability to reconstruct smaller objects and thinner surfaces. Quantitative results also show our method improves pose estimation accuracy.

[1]  Sander Oude Elberink,et al.  Accuracy and Resolution of Kinect Depth Data for Indoor Mapping Applications , 2012, Sensors.

[2]  Andrew W. Fitzgibbon,et al.  KinectFusion: real-time 3D reconstruction and interaction using a moving depth camera , 2011, UIST.

[3]  Tomás Pajdla,et al.  3D with Kinect , 2011, 2011 IEEE International Conference on Computer Vision Workshops (ICCV Workshops).

[4]  Andrew W. Fitzgibbon,et al.  KinectFusion: Real-time dense surface mapping and tracking , 2011, 2011 10th IEEE International Symposium on Mixed and Augmented Reality.

[5]  Gérard G. Medioni,et al.  Object modelling by registration of multiple range images , 1992, Image Vis. Comput..

[6]  Roberto Manduchi,et al.  Bilateral filtering for gray and color images , 1998, Sixth International Conference on Computer Vision (IEEE Cat. No.98CH36271).

[7]  J. Craggs.  Applied Mathematical Sciences , 1973 .

[8]  Marc Levoy,et al.  A volumetric method for building complex models from range images , 1996, SIGGRAPH.

[9]  Marc Levoy,et al.  Efficient variants of the ICP algorithm , 2001, Proceedings Third International Conference on 3-D Digital Imaging and Modeling.

[10]  M. T. Alodat,et al.  the Normal Distribution Function , 2008 .

[11]  Gérard G. Medioni,et al.  Object modeling by registration of multiple range images , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[12]  Kok-Lim Low.  Linear Least-Squares Optimization for Point-to-Plane ICP Surface Registration , 2004 .