Next Article in Journal
A Location Method Using Sensor Arrays for Continuous Gas Leakage in Integrally Stiffened Plates Based on the Acoustic Characteristics of the Stiffener
Previous Article in Journal
Integrated WiFi/PDR/Smartphone Using an Unscented Kalman Filter Algorithm for 3D Indoor Localization
Article Menu

Export Article

Open AccessArticle
Sensors 2015, 15(9), 24615-24643; doi:10.3390/s150924615

A New Approach for Combining Time-of-Flight and RGB Cameras Based on Depth-Dependent Planar Projective Transformations

1
Centre for Automation and Robotics (CAR) CSIC-UPM, Ctra. Campo Real, Km. 0,200, La Poveda. Arganda del Rey, Madrid 28500, Spain
2
Facultad de Ingeniería Eléctrica, Universidad Tecnológica de Panamá, Panamá City 0819, Panama
*
Author to whom correspondence should be addressed.
Academic Editor: Vittorio M. N. Passaro
Received: 26 June 2015 / Revised: 5 September 2015 / Accepted: 17 September 2015 / Published: 23 September 2015
(This article belongs to the Section Physical Sensors)
View Full-Text   |   Download PDF [11865 KB, uploaded 24 September 2015]   |  

Abstract

Image registration for sensor fusion is a valuable technique to acquire 3D and colour information for a scene. Nevertheless, this process normally relies on feature-matching techniques, which is a drawback for combining sensors that are not able to deliver common features. The combination of ToF and RGB cameras is an instance that problem. Typically, the fusion of these sensors is based on the extrinsic parameter computation of the coordinate transformation between the two cameras. This leads to a loss of colour information because of the low resolution of the ToF camera, and sophisticated algorithms are required to minimize this issue. This work proposes a method for sensor registration with non-common features and that avoids the loss of colour information. The depth information is used as a virtual feature for estimating a depth-dependent homography lookup table (Hlut). The homographies are computed within sets of ground control points of 104 images. Since the distance from the control points to the ToF camera are known, the working distance of each element on the Hlut is estimated. Finally, two series of experimental tests have been carried out in order to validate the capabilities of the proposed method. View Full-Text
Keywords: high resolution RGB-D maps; depth-dependent homography lookup table; image registration; uncalibrated methods high resolution RGB-D maps; depth-dependent homography lookup table; image registration; uncalibrated methods
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Salinas, C.; Fernández, R.; Montes, H.; Armada, M. A New Approach for Combining Time-of-Flight and RGB Cameras Based on Depth-Dependent Planar Projective Transformations. Sensors 2015, 15, 24615-24643.

Show more citation formats Show less citations formats

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top