A Versatile method for depth Data error estimation in RGB-D sensors
Autor(a) principal: | |
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Data de Publicação: | 2018 |
Outros Autores: | , , , |
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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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 |
format |
article |
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 10.3390/s18093122 |
url |
https://repositorio.ufrn.br/handle/123456789/31164 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.rights.driver.fl_str_mv |
Attribution 3.0 Brazil http://creativecommons.org/licenses/by/3.0/br/ info:eu-repo/semantics/openAccess |
rights_invalid_str_mv |
Attribution 3.0 Brazil http://creativecommons.org/licenses/by/3.0/br/ |
eu_rights_str_mv |
openAccess |
dc.publisher.none.fl_str_mv |
MDPI |
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MDPI |
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