Calibration of Kinect-type RGB-D sensors for robotic applications

Karan, Branko

doi:10.5937/fmet1501047k

Cited by 19 publications

(6 citation statements)

References 13 publications

(19 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The camera intrinsic parameters used in obtaining the normalized coordinates of the image in (9) were taken from the literature [45]. Specifically, α u = 834.01, α v = 839.85, u 0 = 305.51 and v 0 = 240.09.…”

Section: Resultsmentioning

confidence: 99%

Saturated Visual-Servoing Control Strategy for Nonholonomic Mobile Robots With Experimental Evaluations

et al. 2021

View full text Add to dashboard Cite

A novel saturated visual control strategy for nonholonomic mobile robots is presented. The principal focus is to deal with the stabilization problem. The saturation bounds for the control actions avoid exceeding the physical restrictions of the actuators. This feature is the main difference concerning related works. The closed-loop system is analyzed using the theory of non-autonomous cascade systems, and global uniform asymptotic stability is guaranteed. Experimental validation is carried out by using a unicycle-type mobile robot with an onboard camera. The experiment consists of stabilizing the robot in a preset pose using visual information. The experimental results are compared with a literature unsaturated visual servoing strategy. The results confirm the effectiveness of the proposed approach, completing the assigned task and bounding the control inputs.INDEX TERMS Mobile robot, real-time experiments, saturated control, stabilization problem, visual servoing.

show abstract

Section: Resultsmentioning

confidence: 99%

Saturated Visual-Servoing Control Strategy for Nonholonomic Mobile Robots With Experimental Evaluations

et al. 2021

View full text Add to dashboard Cite

show abstract

“…The systematic errors for each pixel are calculated based on the difference between the depths measured with the actual distance (distance the table to ToF camera). Then those distance offsets is stored as a look-up table depending on the three distances, for each pixel based on the intervals and intensity [39].…”

Section: Methodsmentioning

confidence: 99%

Registration and fusion of 3D surface data from CT and ToF camera for position verification in radiotherapy

et al. 2019

View full text Add to dashboard Cite

The purpose of this study is to introduce a low-cost method for verification of patient positioning before and during irradiation in radiotherapy. The experiments strategy is implemented by using a phantom like a human head in two modes: with and without thermoplastic masks. Radiotherapy is an effective clinical option for topical tumors treatment. Ability to the monitoring and control the patient's position during treatment is among the important items in radiotherapy. We registered to modality of 3D surface image in point cloud format, dynamic 3D image of time-of-flight camera (includes outer shape of head) and static 3D image of CT slice sectional by coherent point drift algorithm. Accuracy of 3D surface registration was calculated by average symmetrical surface distances (ASD) that it is a new method based on surface distance. The mean ASD calculated for rotation around X and Y axes of phantom is 2.62 ± 0.97 mm with immobilized thermoplastic mask and accuracy be increased to 1.69 ± 0.88 mm in non-thermoplastic mode. By performing paired T tests for ASDs, it was found that the use of a thermoplastic mask does not make a significant difference in the data acquisition. By developing this research to image fusion of that's 3D data sets, we will design to augmented reality in radiotherapy for verification of treatment planning and compare it with the electronic portal imaging device.

show abstract

“…Unlike the grayscale depth map, the normal map is described by RGB values and it does not carry distance information, rather information regarding the positions of the normal's vectors of the surface. (An example of the correlation between the 3D object coordinates, the coordinates in RGB and the depth maps can be found in [2]). In the rendering process, the position of normals is substantial.…”

Section: Generation Of Normal Map Based On the Depth Mapmentioning

confidence: 99%

“…It has come a long way from mere photo-editing in programs for such a purpose using various artistic filters. There are several applications that process images resembling different artistic styles, for example [1][2][3].…”

Section: Introductionmentioning

confidence: 99%

Interactive change of lighting in the portrait images

Marković¹,

Obradović²,

Demetriades³

2019

FME Transactions

View full text Add to dashboard Cite

Interactive change of lighting in the portrait images We are facing a number of applications for altering portrait photographs using the help of artificial intelligence. Apart from the entertainment purposes, modern computer technologies can also help us get dynamic effects from static images, an example of which is the subject of this study. Dealing with the change of lighting in portraits photographs through realtime rendering, this paper provides a method of obtaining an image with variable light source that affects the facial features generated on the basis of the face tracking data acquired from the existing static photograph. Thus, we get a portrait with altered light, as if such a source was present at the actual moment of photographing. This method aims to improve or even change the visual experience when viewing the image, so that its further application corresponds to the given context.

show abstract

Calibration of Kinect-type RGB-D sensors for robotic applications

Cited by 19 publications

References 13 publications

Saturated Visual-Servoing Control Strategy for Nonholonomic Mobile Robots With Experimental Evaluations

Saturated Visual-Servoing Control Strategy for Nonholonomic Mobile Robots With Experimental Evaluations

Registration and fusion of 3D surface data from CT and ToF camera for position verification in radiotherapy

Interactive change of lighting in the portrait images

Contact Info

Product

Resources

About