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Verification of specifications and aptitude for short-range applications of the Kinect v2 depth sensor Cecilia Chen, Cornell University Lewis’ Educational.

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Presentation on theme: "Verification of specifications and aptitude for short-range applications of the Kinect v2 depth sensor Cecilia Chen, Cornell University Lewis’ Educational."— Presentation transcript:

1 Verification of specifications and aptitude for short-range applications of the Kinect v2 depth sensor Cecilia Chen, Cornell University Lewis’ Educational and Research Collaborative Internship Project (LERCIP) NASA Glenn Research Center, Graphics & Visualization/Dr. Herb Schilling 7/22/2014

2 Purpose of this study  Validate the published specifications for the Microsoft Kinect v2 depth sensor  Resolution and x-y position accuracy  Depth-sensing accuracy  Near-range sensing limit  Determine the sensor’s potential for use in short-range applications  Feasibility of repurposing the Kinect for functions requiring an operating distance of approximately 0.5 m from the sensor

3 Overview of topics discussed I.Introduction A.Microsoft Kinect v2 B.Infrared and Depth streams C.Time-of-flight II.Preliminary Calculations A.Is the depth camera’s error range acceptable? B.Possibility of errors in position due to low resolution C.Possibility of errors in angle due to noise

4 Overview of topics discussed III.Calibration and Experimental Verification A.Software preparation B.Calibration C.Experimental verification IV.Conclusions A.Findings B.Sponsors

5 Introduction

6 Microsoft Kinect v2

7 Infrared and Depth streams

8 Time-of-flight

9 Preliminary Calculations

10 Is the depth camera’s error range acceptable?  Microsoft claims depth measurements are accurate to within 1 mm  Guidelines for short-range use of the depth sensor  Defined by an operating distance (between the Kinect and object) of approximately 0.5 m  Near-range of the Kinect v2 supposedly starts at 0.5 m  Given a surface oriented perpendicular to the depth axis:  Position – be able to locate a point on the surface to within 2 mm  Angle – be able to measure inclinations on the surface to within 10°  Both to be confirmed through calculations using an upper error bound

11 Possibility of errors in position due to low resolution y z x

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13 35 ° x/2 0.7 m x/2 35 ° Horizontal slice of FOV

14 Possibility of errors in position due to low resolution y/2 0.7 m y/2 30 ° Vertical slice of FOV 30 °

15 Possibility of errors in position due to low resolution

16 50 mm diameter

17 Possibility of errors in angle due to noise For simplicity, take a plane defined by two points 50 mm apart representing the same circular surface: 50 mm diameter x y z Axis orientation

18 Possibility of errors in angle due to noise z x y 50 mm Kinect θ ΔzΔz

19 Possibility of errors in angle due to noise ΔzΔz 50 mm θ

20 Calibration and Experimental Verification

21 Software preparation  Use C# to interact with Microsoft Visual Studio and the Kinect for Windows SDK  Modify and expand the Depth Basics code included in the SDK (Preview 1404)  Decreasing the grayscale gradient range for easier visual distinguishability between depths  Making the window recognize a hovering cursor  Writing the (x, y, z) coordinates of the cursor to the image window in real-time  Averaging depth readings at a given point to smooth out jumpy data  Capturing depth arrays of multiple frames  Outputting collected data to CSV files for further analysis

22 BeforeAfter

23 Calibration  Step 0: Design and assemble a rig to hold the Kinect steady  Step 1: Level the sensor  Step 2: Set up a base surface for measurements at a height similar to the intended distance between the Kinect and interaction area

24 Calibration  Step 3: Check for irregularities

25 Experimental verification  Step 4: Measure a sloped calibration block of known height 50 mm

26 Base, z 1 Top of block, z 2 Height, Δz Actual (mm)-- 50 Measured (mm)5710 (538 minimum)Error

27 Experimental verification  Step 5: Lower the base height  Step 6: Measure a sloped calibration block of known height 50 mm

28 Base, z 1 Top of block, z 2 Height, Δz Actual (mm)-- 50 Measured (mm)

29 Experimental verification  Step 7: Repeat with calibration block(s) of different heights 64 mm

30 Base, z 1 Top of block, z 2 Height, Δz Actual (mm)-- 64 Measured (mm)

31 Conclusions

32 Findings  Successful verification of the published specs  Kinect v2 appears to be a promising depth sensor for short-range applications Expectation or Guideline Experimental confirmation Acceptable? Position (resolution)±2 mm(1.9 mm) 2 per pixel resolution Yes Angle (noise) ≤ 10°Requires Δz ≤ 8.8 mm at z = 0.7 m Very Depth accuracy±1 mm Very Near-range0.5 m0.538 mNo

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