A comparison of an RGB-D cameras performance and a stereo camera in relation to object recognition and spatial position determination

Authors

  • Julian Severiano Rodriguez Universidad de San Buenaventura Bogotá, Colombia

Abstract

Results of using an RGB-D camera (Kinect sensor) and a stereo camera, separately, in order to determine the 3D real position of characteristic points of a predetermined object in a scene are presented. KAZE algorithm was used to make the recognition, that algorithm exploits the nonlinear scale space through nonlinear diffusion filtering; 3D coordinates of the centroid of a predetermined object were calculated employing the camera calibration information and the depth parameter provided by a Kinect sensor and a stereo camera. Experimental results show it is possible to get the required coordinates with both cameras in order to locate a robot, although a balance in the distance where the sensor is placed must be guaranteed: no fewer than 0.8 m from the object to guarantee the real depth information, it is due to Kinect operating range; 0.5 m to stereo camera, but it must not be 1 m away to have a suitable rate of object recognition, besides, Kinect sensor has more precision with distance measures regarding a stereo camera.

Keywords

Stereo camera, 3D coordinates, descriptors, Kinect, image processing, object recognition

Author Biography

Julian Severiano Rodriguez, Universidad de San Buenaventura Bogotá, Colombia

Profesor Asociado

Departamento de Ingeniería Mecatrónica

Facultad de Ingeniería

Published

26-01-2021

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