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Questions regarding 3D scanning and camera choice

My favorite is the Learning OpenCV book. It has a fantastic stereo / 3D section that introduces concepts from the ground up. If you're at a university, you might be able to find the digital version ...
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4 votes
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Stereo camera Vs Kinect

The Kinect is certainly a popular choice these days for robotics. However, time-of-flight, structured light, and stereo cameras all have their own strengths and weaknesses. These two threads have a ...
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4 votes

Kinect v1 VS Kinect v2

Kinect 1 is a structured Light sensor, Kinect 2 is a Time of Flight camera. Structured Light gives you better performance on edges where a ToF camera smoothes the data due to multipath-measurements. ...
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3 votes

ROS and Kinect data without callbacks

You should simply use the callback method since you can have an object in your code that is always updated with the latest measurement. Then you can simply poll the measurement in that object whenever ...
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3 votes
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Kinect VS Stereo cameras

Kinect: Pro: cheap already calibrated active system (works also on textureless surfaces) dense stereo Con: defined range (low maximal range) does not work good outdoors in direct sunlight Stereo: ...
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3 votes

What main factors/features explain the high price of most industrial computer vision hardware?

So the Kinect uses a set of IR points to determine depth, not true stereoscopy. the DUO M and the Bumbee both use two cameras to achieve this, I am not familiar enough with them to give a good ...
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  • 1,909
3 votes

RGB-D SLAM - Compute Information Matrix

The information matrix is the inverse of the covariance matrix. In this case, the covariance is over the variables (x,y,z,qx,qy,qz). It is assumed that your quaternion is normalized to be unit ...
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  • 181
3 votes
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I am making a Ping pong-playing robot using two cameras to trace the ball (3D vision),what is the minimum Frame rate of the cameras?

The movement of the ping pong ball is going to be ballistic, so you really only need to know its 3d position in 3 different locations in order to fully constrain its motion. In reality, you will ...
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3 votes

ROS + SLAM + kinect. which platform to use?

There are several platforms possible, depending on your experience level and needs. If you are comfortable working with the Raspberry Pi or the Beagle Bone... the next step up might be the Jetson TX1 ...
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  • 295
3 votes

Calculate information matrix for graph slam

The information matrix is just the inverse of the covariance matrix. I recommend you read the page I linked, or just google covariance matrix. Essentially it contains how certain you are in your ...
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2 votes

Stereo camera Vs Kinect

The Structure sensor is a "3D sensor for mobile devices". Reading over the details it sounds like a smaller version of Kinect. It has open source drivers, openNI support etc. It's been on my to buy ...
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2 votes

How can I achieve long distance, high quality 3D Scans on a mobile robot?

If cost is a factor, you can also do 3D reconstruction using stereo vision with a pair of commercial digital cameras. Many algorithms are available online to reconstruct 3D scenes from a pair of ...
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2 votes
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Using an RGB + Depth Camera to locate X,Y,Z coordinates of a ball

The critical part is the registration between depth data and RGB data. If the registration is calibrated properly then you can just extract the depth for the particular target pixel (X,Y), using ...
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2 votes

What main factors/features explain the high price of most industrial computer vision hardware?

As Mark Omo mentioned, the Kinect is a fundamentally different technology than a simple stereo pair. There are also other technologies such as a "standard" time-of-flight cameras like the Swiss ...
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  • 5,245
2 votes

ROS and Kinect data without callbacks

Until you learn more about ROS the best approach is to use a callback. You can copy the data to a global variable and use that in your main program if it helps you reason about the data flow better. ...
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2 votes

Is there an algorithm using the Kinect depth image (not the point cloud) for registration?

Consider this - what is the process of doing SLAM? First, get some sensor data, then move in the world, get some more sensor data, then try to do feature identification and matching to build up a map. ...
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2 votes

Calculating the distance of a point from point cloud data

These values are relative to the camera. Z is always positive as the camera can't see what is behind. X and Y can be positive or negative depending on if an object is left/right or higher/lower than ...
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1 vote
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Modelling Point Clouds for Collision Detection in Gazebo

For the most part I was able to get this done. The only difference I chose was to use the Point Cloud library's triangular mesh generator instead of Meshlab's mesh generator mainly because Meshlab's ...
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1 vote

Using an RGB + Depth Camera to locate X,Y,Z coordinates of a ball

Very common problem which calls for using the "Pointcloud Library" PCL: www.pointclouds.org This datastructures in the library also make it easy to find according 3D-Points when you segmented your RGB ...
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  • 134
1 vote

How to efficiently do 3D mapping of an area on a MAV?

In your case I would suggest using the stereo version because: - You already said Kinect is technically not a possible solution because of the sun's IR light - A reasonable good lidar sensors costs a ...
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1 vote

Troubleshooting Xbox Kinect 360

Well, from the last post in the thread you linked states it's a USB speed issue, then says you need 20 MB/s to do depth and RGB, which means you cannot do it on a USB 1.0 port; you need 2.0 or 3.0. ...
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1 vote

Do structured light camera sensors work outdoors?

I only have experience with the kinect, but it will definitely not work outside no matter what (unless the sun is down) and I have had problems when giving demos near large windows with sun. Tldr ...
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1 vote

Depth image sensor for integration into robot

If you want a low cost vision sensor that does all the work for you I sugest you look here -> Pixy Cam From here you can work with two cameras and build your application using stereo vision to ...
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1 vote

Depth image sensor for integration into robot

What kind of processing power are you hoping to carry to do the depth sensing/processing? I would recommend the ZED camera when paired with an Nvidia K1 it works great for mobile vision processing, it ...
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  • 1,909
1 vote

Questions regarding 3D scanning and camera choice

PCL library has all the functionality you need for 3D scanning, as well as it have the complete GPU pipeline, take a look at kinfu. Here is some tutorial regarding 3D scanning. Take a look at MeshLab ...
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1 vote

What main factors/features explain the high price of most industrial computer vision hardware?

As others mentioned the Kinect is a different technology which has different trade offs. Stereo performs better in sunlight than a Kinect and it is easier to adapt the range, particularly if longer ...
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  • 181
1 vote

RGB-D SLAM - Compute Information Matrix

Your sensor does not measure state Kinect does not provide any "measurements" of state. It scans the environment and provides a point cloud. To use this to localize a robot, you must compare ...
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1 vote

RGB-D SLAM - Compute Information Matrix

From the wiki of the g2o file format: The information matrix or precision matrix which represent the uncertainty of the measurement error is the inverse of the covariance matrix. Hence, ...
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1 vote

Stereo camera Vs Kinect

Kinect is an active 3D depth estimation setup that employs IR laser structured patterns for Depth calculation and are reliable for Indoor applications only. Whereas, Stereo Camera setup is a ...
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1 vote

Udoo board + Kinect sensor?

Someone I know has tested the Kinect on the Udoo and it works fairly well on the quad core Udoo, the resources might be tighter on the dual core. You can install the debs for everything you need in ...
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