Statistical Analysis-Based Error Models for the Microsoft KinectTM Depth Sensor
1
Department of Systems and Information Engineering, University of Virginia, Charlottesville, VA 22904, USA
2
Barron Associates, Charlottesville, VA 22901, USA
*
Author to whom correspondence should be addressed.
Sensors 2014, 14(9), 17430-17450; https://doi.org/10.3390/s140917430
Received: 21 May 2014
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Revised: 9 September 2014
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Accepted: 10 September 2014
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Published: 18 September 2014
(This article belongs to the Section Physical Sensors)
The stochastic error characteristics of the Kinect sensing device are presented for each axis direction. Depth (z) directional error is measured using a flat surface, and horizontal (x) and vertical (y) errors are measured using a novel 3D checkerboard. Results show that the stochastic nature of the Kinect measurement error is affected mostly by the depth at which the object being sensed is located, though radial factors must be considered, as well. Measurement and statistics-based models are presented for the stochastic error in each axis direction, which are based on the location and depth value of empirical data measured for each pixel across the entire field of view. The resulting models are compared against existing Kinect error models, and through these comparisons, the proposed model is shown to be a more sophisticated and precise characterization of the Kinect error distributions.
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Keywords:
KinectTM; noise model; statistical noise analysis; calibration
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This is an open access article distributed under the Creative Commons Attribution License
MDPI and ACS Style
Choo, B.; Landau, M.; DeVore, M.; Beling, P.A. Statistical Analysis-Based Error Models for the Microsoft KinectTM Depth Sensor. Sensors 2014, 14, 17430-17450. https://doi.org/10.3390/s140917430
AMA Style
Choo B, Landau M, DeVore M, Beling PA. Statistical Analysis-Based Error Models for the Microsoft KinectTM Depth Sensor. Sensors. 2014; 14(9):17430-17450. https://doi.org/10.3390/s140917430
Chicago/Turabian StyleChoo, Benjamin, Michael Landau, Michael DeVore, and Peter A. Beling. 2014. "Statistical Analysis-Based Error Models for the Microsoft KinectTM Depth Sensor" Sensors 14, no. 9: 17430-17450. https://doi.org/10.3390/s140917430
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