Metrological and Critical Characterization of the Intel D415 Stereo Depth Camera

Carfagni, Monica; Furferi, Rocco; Governi, Lapo; Santarelli, Chiara; Servi, Michaela; Uccheddu, Francesca; Volpe, Yary

doi:10.20944/preprints201812.0284.v1

Cited by 21 publications

(22 citation statements)

References 30 publications

(41 reference statements)

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“…This light device (55 g) with low battery consumption (300 mAh) can be easily attached to a small size drone. In [35], the authors characterized it. They reported that it is sufficiently accurate to acquire information at very close range (from 15 cm to 50 cm), so it is adequate for our purposes.…”

Section: Figure2: Drone Lidarmentioning

confidence: 99%

Self-Corrective Sensor Fusion for Drone Positioning in Indoor Facilities

et al. 2021

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Drones may be more advantageous than fixed cameras for quality control applications in industrial facilities, since they can be redeployed dynamically and adjusted to production planning. The practical scenario that has motivated this paper, image acquisition with drones in a car manufacturing plant, requires drone positioning accuracy in the order of 5 cm. During repetitive manufacturing processes, it is assumed that quality control imaging drones will follow highly deterministic periodic paths, stop at predefined points to take images and send them to image recognition servers. Therefore, by relying on prior knowledge about production chain schedules, it is possible to optimize the positioning technologies for the drones to stay at all times within the boundaries of their flight plans, which will be composed of stopping points and the paths in between. This involves mitigating issues such as temporary blocking of line-of-sight between the drone and any existing radio beacons; sensor data noise; and the loss of visual references. We present a self-corrective solution for this purpose. It corrects visual odometer readings based on filtered and clustered Ultra-Wide Band (UWB) data, as an alternative to direct Kalman fusion. The approach combines the advantages of these technologies when at least one of them works properly at any measurement spot. It has three method components: independent Kalman filtering, data association by means of stream clustering and mutual correction of sensor readings based on the generation of cumulative correction vectors. The approach is inspired by the observation that UWB positioning works reasonably well at static spots whereas visual odometer measurements reflect straight displacements correctly but can underestimate their length. Our experimental results demonstrate the advantages of the approach in the application scenario over Kalman fusion, in terms of stopping point detection and trajectory estimation error.INDEX TERMS Ultra-Wide Band, visual odometer, sensor fusion, wireless technologies, drone positioning, industry applications, Industry 4.0, quality control.

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Section: Figure2: Drone Lidarmentioning

confidence: 99%

Self-Corrective Sensor Fusion for Drone Positioning in Indoor Facilities

et al. 2021

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“…The device was chosen for this task after extensive characterization to ensure its accuracy [24]; as indicated in [24], the raw data are filtered after the acquisition to obtain a less noisy result.…”

Section: System Architecturementioning

confidence: 99%

Handheld Optical System for Pectus Excavatum Assessment

et al. 2021

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Disruptive 3D technologies, such as reverse engineering (RE) and additive manufacturing (AM), when applied in the medical field enable the development of new methods for personalized and non-invasive treatments. When referring to the monitoring of pectus excavatum, one of the most common thoracic malformations, 3D acquisition of the patient chest proved to be a straightforward method for assessing and measuring chest deformation. Unfortunately, such systems are usually available in a dedicated facility, can be operated only by specialized doctors with the support of engineers and can be used only with patients on site. It is therefore impossible to perform any routine check-up when the patient is unable to reach the outpatient clinic. The COVID19 pandemic situation has placed even greater restrictions on patient mobility, worsening this problem. To deal with this issue, a new low-cost portable optical scanner for monitoring pectus excavatum is proposed in this work. The scanner, named Thor 2.0, allows a remote diagnostic approach, offering the possibility to perform routine check-ups telematically. Usability tests confirmed the user-friendly nature of the devised system. The instrument was used at the Meyer Children’s Hospital (Florence, Italy) chest-malformations center to treat PE patients. The performed measurements proved to be in line with the current state of the art.

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“…Active stereo is a vision technique in which stereo and structured light, or laser, are combined to benefit of the advantages of both the technologies [19,55,52,53]. A 3D sensor built according to this technology is equipped with two outdistanced cameras and a projector between them, usually working in IR spectrum.…”

Section: Active Stereoscopymentioning

confidence: 99%

Analysis of RGB-D camera technologies for supporting different facial usage scenarios

Ulrich

Vezzetti

Moos

et al. 2020

Multimed Tools Appl

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Recently a wide variety of applications has been developed integrating 3D functionalities. Advantages given by the possibility of relying on depth information allows the developers to design new algorithms and to improve the existing ones. In particular, for what concerns face morphology, 3D has led to the possibility to obtain face depth maps highly close to reality and consequently an improvement of the starting point for further analysis such as Face Detection, Face Authentication, Face Identification and Face Expression Recognition. The development of the aforementioned applications would have been impossible without the progress of sensor technologies for obtaining 3D information. Several solutions have been adopted over time. In this paper, emphasis is put on passive stereoscopy, structured light, time-of-flight (ToF) and active stereoscopy, namely the most used technologies for the cameras design and fulfilment according to the literature. The aim of this article is to investigate facial applications and to examine 3D camera technologies to suggest some guidelines for addressing the correct choice of a 3D sensor according to the application that has to be developed.

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Metrological and Critical Characterization of the Intel D415 Stereo Depth Camera

Cited by 21 publications

References 30 publications

Self-Corrective Sensor Fusion for Drone Positioning in Indoor Facilities

Self-Corrective Sensor Fusion for Drone Positioning in Indoor Facilities

Handheld Optical System for Pectus Excavatum Assessment

Analysis of RGB-D camera technologies for supporting different facial usage scenarios

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