A Versatile method for depth Data error estimation in RGB-D sensors

Detalhes bibliográficos
Autor(a) principal: Avila, Elizabeth Viviana Cabrera
Data de Publicação: 2018
Outros Autores: Fernandez, Luiz Enrique Ortiz, Slva, Bruno Marques Ferreira a, clua, Esteban Walter G., Goncalves, Luiz Marcos Garcia
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Institucional da UFRN
Texto Completo: https://repositorio.ufrn.br/handle/123456789/31164
Resumo: We propose a versatile method for estimating the RMS error of depth data provided by generic 3D sensors with the capability of generating RGB and depth (D) data of the scene, i.e., the ones based on techniques such as structured light, time of flight and stereo. A common checkerboard is used, the corners are detected and two point clouds are created, one with the real coordinates of the pattern corners and one with the corner coordinates given by the device. After a registration of these two clouds, the RMS error is computed. Then, using curve fittings methods, an equation is obtained that generalizes the RMS error as a function of the distance between the sensor and the checkerboard pattern. The depth errors estimated by our method are compared to those estimated by state-of-the-art approaches, validating its accuracy and utility. This method can be used to rapidly estimate the quality of RGB-D sensors, facilitating robotics applications as SLAM and object recognition
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spelling Avila, Elizabeth Viviana CabreraFernandez, Luiz Enrique OrtizSlva, Bruno Marques Ferreira aclua, Esteban Walter G.Goncalves, Luiz Marcos Garcia2020-12-30T14:44:09Z2020-12-30T14:44:09Z2018-09-13CABRERA, Elizabeth; ORTIZ, Luis; SILVA, Bruno; CLUA, Esteban; GONÇALVES, Luiz. A Versatile Method for Depth Data Error Estimation in RGB-D Sensors. Sensors, [S.L.], v. 18, n. 9, p. 3122-3122, 16 set. 2018. Disponível em: https://www.mdpi.com/1424-8220/18/9/3122. Acesso em: 19 out. 2020. http://dx.doi.org/10.3390/s18093122.1424-8220https://repositorio.ufrn.br/handle/123456789/3116410.3390/s18093122MDPIAttribution 3.0 Brazilhttp://creativecommons.org/licenses/by/3.0/br/info:eu-repo/semantics/openAccessRMS errorRGB-D sensorsAccuracyA Versatile method for depth Data error estimation in RGB-D sensorsinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleWe propose a versatile method for estimating the RMS error of depth data provided by generic 3D sensors with the capability of generating RGB and depth (D) data of the scene, i.e., the ones based on techniques such as structured light, time of flight and stereo. A common checkerboard is used, the corners are detected and two point clouds are created, one with the real coordinates of the pattern corners and one with the corner coordinates given by the device. After a registration of these two clouds, the RMS error is computed. Then, using curve fittings methods, an equation is obtained that generalizes the RMS error as a function of the distance between the sensor and the checkerboard pattern. The depth errors estimated by our method are compared to those estimated by state-of-the-art approaches, validating its accuracy and utility. This method can be used to rapidly estimate the quality of RGB-D sensors, facilitating robotics applications as SLAM and object recognitionengreponame:Repositório Institucional da UFRNinstname:Universidade Federal do Rio Grande do Norte (UFRN)instacron:UFRNORIGINALVersatileMethodDepth_SILVA_2018.pdfVersatileMethodDepth_SILVA_2018.pdfapplication/pdf880517https://repositorio.ufrn.br/bitstream/123456789/31164/1/VersatileMethodDepth_SILVA_2018.pdfdfd9ba924feee938e524d441dbaf5df8MD51CC-LICENSElicense_rdflicense_rdfapplication/rdf+xml; charset=utf-8914https://repositorio.ufrn.br/bitstream/123456789/31164/2/license_rdf4d2950bda3d176f570a9f8b328dfbbefMD52LICENSElicense.txtlicense.txttext/plain; charset=utf-81484https://repositorio.ufrn.br/bitstream/123456789/31164/3/license.txte9597aa2854d128fd968be5edc8a28d9MD53TEXTVersatileMethodDepth_SILVA_2018.pdf.txtVersatileMethodDepth_SILVA_2018.pdf.txtExtracted texttext/plain65237https://repositorio.ufrn.br/bitstream/123456789/31164/4/VersatileMethodDepth_SILVA_2018.pdf.txt93668ef0316a00849bee34d58ff5d3a0MD54THUMBNAILVersatileMethodDepth_SILVA_2018.pdf.jpgVersatileMethodDepth_SILVA_2018.pdf.jpgGenerated Thumbnailimage/jpeg1615https://repositorio.ufrn.br/bitstream/123456789/31164/5/VersatileMethodDepth_SILVA_2018.pdf.jpgd4b7243eff5e36dae67f1bd7517e690fMD55123456789/311642021-01-03 05:24:30.519oai:https://repositorio.ufrn.br:123456789/31164Tk9OLUVYQ0xVU0lWRSBESVNUUklCVVRJT04gTElDRU5TRQoKCkJ5IHNpZ25pbmcgYW5kIGRlbGl2ZXJpbmcgdGhpcyBsaWNlbnNlLCBNci4gKGF1dGhvciBvciBjb3B5cmlnaHQgaG9sZGVyKToKCgphKSBHcmFudHMgdGhlIFVuaXZlcnNpZGFkZSBGZWRlcmFsIFJpbyBHcmFuZGUgZG8gTm9ydGUgdGhlIG5vbi1leGNsdXNpdmUgcmlnaHQgb2YKcmVwcm9kdWNlLCBjb252ZXJ0IChhcyBkZWZpbmVkIGJlbG93KSwgY29tbXVuaWNhdGUgYW5kIC8gb3IKZGlzdHJpYnV0ZSB0aGUgZGVsaXZlcmVkIGRvY3VtZW50IChpbmNsdWRpbmcgYWJzdHJhY3QgLyBhYnN0cmFjdCkgaW4KZGlnaXRhbCBvciBwcmludGVkIGZvcm1hdCBhbmQgaW4gYW55IG1lZGl1bS4KCmIpIERlY2xhcmVzIHRoYXQgdGhlIGRvY3VtZW50IHN1Ym1pdHRlZCBpcyBpdHMgb3JpZ2luYWwgd29yaywgYW5kIHRoYXQKeW91IGhhdmUgdGhlIHJpZ2h0IHRvIGdyYW50IHRoZSByaWdodHMgY29udGFpbmVkIGluIHRoaXMgbGljZW5zZS4gRGVjbGFyZXMKdGhhdCB0aGUgZGVsaXZlcnkgb2YgdGhlIGRvY3VtZW50IGRvZXMgbm90IGluZnJpbmdlLCBhcyBmYXIgYXMgaXQgaXMKdGhlIHJpZ2h0cyBvZiBhbnkgb3RoZXIgcGVyc29uIG9yIGVudGl0eS4KCmMpIElmIHRoZSBkb2N1bWVudCBkZWxpdmVyZWQgY29udGFpbnMgbWF0ZXJpYWwgd2hpY2ggZG9lcyBub3QKcmlnaHRzLCBkZWNsYXJlcyB0aGF0IGl0IGhhcyBvYnRhaW5lZCBhdXRob3JpemF0aW9uIGZyb20gdGhlIGhvbGRlciBvZiB0aGUKY29weXJpZ2h0IHRvIGdyYW50IHRoZSBVbml2ZXJzaWRhZGUgRmVkZXJhbCBkbyBSaW8gR3JhbmRlIGRvIE5vcnRlIHRoZSByaWdodHMgcmVxdWlyZWQgYnkgdGhpcyBsaWNlbnNlLCBhbmQgdGhhdCB0aGlzIG1hdGVyaWFsIHdob3NlIHJpZ2h0cyBhcmUgb2YKdGhpcmQgcGFydGllcyBpcyBjbGVhcmx5IGlkZW50aWZpZWQgYW5kIHJlY29nbml6ZWQgaW4gdGhlIHRleHQgb3IKY29udGVudCBvZiB0aGUgZG9jdW1lbnQgZGVsaXZlcmVkLgoKSWYgdGhlIGRvY3VtZW50IHN1Ym1pdHRlZCBpcyBiYXNlZCBvbiBmdW5kZWQgb3Igc3VwcG9ydGVkIHdvcmsKYnkgYW5vdGhlciBpbnN0aXR1dGlvbiBvdGhlciB0aGFuIHRoZSBVbml2ZXJzaWRhZGUgRmVkZXJhbCBkbyBSaW8gR3JhbmRlIGRvIE5vcnRlLCBkZWNsYXJlcyB0aGF0IGl0IGhhcyBmdWxmaWxsZWQgYW55IG9ibGlnYXRpb25zIHJlcXVpcmVkIGJ5IHRoZSByZXNwZWN0aXZlIGFncmVlbWVudCBvciBhZ3JlZW1lbnQuCgpUaGUgVW5pdmVyc2lkYWRlIEZlZGVyYWwgZG8gUmlvIEdyYW5kZSBkbyBOb3J0ZSB3aWxsIGNsZWFybHkgaWRlbnRpZnkgaXRzIG5hbWUgKHMpIGFzIHRoZSBhdXRob3IgKHMpIG9yIGhvbGRlciAocykgb2YgdGhlIGRvY3VtZW50J3MgcmlnaHRzCmRlbGl2ZXJlZCwgYW5kIHdpbGwgbm90IG1ha2UgYW55IGNoYW5nZXMsIG90aGVyIHRoYW4gdGhvc2UgcGVybWl0dGVkIGJ5CnRoaXMgbGljZW5zZQo=Repositório de PublicaçõesPUBhttp://repositorio.ufrn.br/oai/opendoar:2021-01-03T08:24:30Repositório Institucional da UFRN - Universidade Federal do Rio Grande do Norte (UFRN)false
dc.title.pt_BR.fl_str_mv A Versatile method for depth Data error estimation in RGB-D sensors
title A Versatile method for depth Data error estimation in RGB-D sensors
spellingShingle A Versatile method for depth Data error estimation in RGB-D sensors
Avila, Elizabeth Viviana Cabrera
RMS error
RGB-D sensors
Accuracy
title_short A Versatile method for depth Data error estimation in RGB-D sensors
title_full A Versatile method for depth Data error estimation in RGB-D sensors
title_fullStr A Versatile method for depth Data error estimation in RGB-D sensors
title_full_unstemmed A Versatile method for depth Data error estimation in RGB-D sensors
title_sort A Versatile method for depth Data error estimation in RGB-D sensors
author Avila, Elizabeth Viviana Cabrera
author_facet Avila, Elizabeth Viviana Cabrera
Fernandez, Luiz Enrique Ortiz
Slva, Bruno Marques Ferreira a
clua, Esteban Walter G.
Goncalves, Luiz Marcos Garcia
author_role author
author2 Fernandez, Luiz Enrique Ortiz
Slva, Bruno Marques Ferreira a
clua, Esteban Walter G.
Goncalves, Luiz Marcos Garcia
author2_role author
author
author
author
dc.contributor.author.fl_str_mv Avila, Elizabeth Viviana Cabrera
Fernandez, Luiz Enrique Ortiz
Slva, Bruno Marques Ferreira a
clua, Esteban Walter G.
Goncalves, Luiz Marcos Garcia
dc.subject.por.fl_str_mv RMS error
RGB-D sensors
Accuracy
topic RMS error
RGB-D sensors
Accuracy
description We propose a versatile method for estimating the RMS error of depth data provided by generic 3D sensors with the capability of generating RGB and depth (D) data of the scene, i.e., the ones based on techniques such as structured light, time of flight and stereo. A common checkerboard is used, the corners are detected and two point clouds are created, one with the real coordinates of the pattern corners and one with the corner coordinates given by the device. After a registration of these two clouds, the RMS error is computed. Then, using curve fittings methods, an equation is obtained that generalizes the RMS error as a function of the distance between the sensor and the checkerboard pattern. The depth errors estimated by our method are compared to those estimated by state-of-the-art approaches, validating its accuracy and utility. This method can be used to rapidly estimate the quality of RGB-D sensors, facilitating robotics applications as SLAM and object recognition
publishDate 2018
dc.date.issued.fl_str_mv 2018-09-13
dc.date.accessioned.fl_str_mv 2020-12-30T14:44:09Z
dc.date.available.fl_str_mv 2020-12-30T14:44:09Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
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status_str publishedVersion
dc.identifier.citation.fl_str_mv CABRERA, Elizabeth; ORTIZ, Luis; SILVA, Bruno; CLUA, Esteban; GONÇALVES, Luiz. A Versatile Method for Depth Data Error Estimation in RGB-D Sensors. Sensors, [S.L.], v. 18, n. 9, p. 3122-3122, 16 set. 2018. Disponível em: https://www.mdpi.com/1424-8220/18/9/3122. Acesso em: 19 out. 2020. http://dx.doi.org/10.3390/s18093122.
dc.identifier.uri.fl_str_mv https://repositorio.ufrn.br/handle/123456789/31164
dc.identifier.issn.none.fl_str_mv 1424-8220
dc.identifier.doi.none.fl_str_mv 10.3390/s18093122
identifier_str_mv CABRERA, Elizabeth; ORTIZ, Luis; SILVA, Bruno; CLUA, Esteban; GONÇALVES, Luiz. A Versatile Method for Depth Data Error Estimation in RGB-D Sensors. Sensors, [S.L.], v. 18, n. 9, p. 3122-3122, 16 set. 2018. Disponível em: https://www.mdpi.com/1424-8220/18/9/3122. Acesso em: 19 out. 2020. http://dx.doi.org/10.3390/s18093122.
1424-8220
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http://creativecommons.org/licenses/by/3.0/br/
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http://creativecommons.org/licenses/by/3.0/br/
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