A Post-Rectification Approach of Depth Images of Kinect v2 for 3D Reconstruction of Indoor Scenes
3D reconstruction of indoor scenes is a hot research topic in computer vision. Reconstructing fast, low-cost, and accurate dense 3D maps of indoor scenes have applications in indoor robot positioning, navigation, and semantic mapping. In other studies, the Microsoft Kinect for Windows v2 (Kinect v2)...
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| Format: | Article |
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MDPI AG
2017-11-01
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| Series: | ISPRS International Journal of Geo-Information |
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| Online Access: | https://www.mdpi.com/2220-9964/6/11/349 |
| _version_ | 1818081846736453632 |
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| author | Jichao Jiao Libin Yuan Weihua Tang Zhongliang Deng Qi Wu |
| author_facet | Jichao Jiao Libin Yuan Weihua Tang Zhongliang Deng Qi Wu |
| author_sort | Jichao Jiao |
| collection | DOAJ |
| description | 3D reconstruction of indoor scenes is a hot research topic in computer vision. Reconstructing fast, low-cost, and accurate dense 3D maps of indoor scenes have applications in indoor robot positioning, navigation, and semantic mapping. In other studies, the Microsoft Kinect for Windows v2 (Kinect v2) is utilized to complete this task, however, the accuracy and precision of depth information and the accuracy of correspondence between the RGB and depth (RGB-D) images still remain to be improved. In this paper, we propose a post-rectification approach of the depth images to improve the accuracy and precision of depth information. Firstly, we calibrate the Kinect v2 with a planar checkerboard pattern. Secondly, we propose a post-rectification approach of the depth images according to the reflectivity-related depth error. Finally, we conduct tests to evaluate this post-rectification approach from the perspectives of accuracy and precision. In order to validate the effect of our post-rectification approach, we apply it to RGB-D simultaneous localization and mapping (SLAM) in an indoor environment. Experimental results show that once our post-rectification approach is employed, the RGB-D SLAM system can perform a more accurate and better visual effect 3D reconstruction of indoor scenes than other state-of-the-art methods. |
| first_indexed | 2024-12-10T19:12:42Z |
| format | Article |
| id | doaj.art-ea09955e285b466080ab592546233e2a |
| institution | Directory Open Access Journal |
| issn | 2220-9964 |
| language | English |
| last_indexed | 2024-12-10T19:12:42Z |
| publishDate | 2017-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | ISPRS International Journal of Geo-Information |
| spelling | doaj.art-ea09955e285b466080ab592546233e2a2022-12-22T01:36:40ZengMDPI AGISPRS International Journal of Geo-Information2220-99642017-11-0161134910.3390/ijgi6110349ijgi6110349A Post-Rectification Approach of Depth Images of Kinect v2 for 3D Reconstruction of Indoor ScenesJichao Jiao0Libin Yuan1Weihua Tang2Zhongliang Deng3Qi Wu4School of Electronic Engineering, Beijing University of Posts and Telecommunications, Beijing 100876, ChinaSchool of Electronic Engineering, Beijing University of Posts and Telecommunications, Beijing 100876, ChinaChina State Construction Engineering Corporation Ltd. (CSCEC), Beijing 100876, ChinaSchool of Electronic Engineering, Beijing University of Posts and Telecommunications, Beijing 100876, ChinaSchool of Electronic Engineering, Beijing University of Posts and Telecommunications, Beijing 100876, China3D reconstruction of indoor scenes is a hot research topic in computer vision. Reconstructing fast, low-cost, and accurate dense 3D maps of indoor scenes have applications in indoor robot positioning, navigation, and semantic mapping. In other studies, the Microsoft Kinect for Windows v2 (Kinect v2) is utilized to complete this task, however, the accuracy and precision of depth information and the accuracy of correspondence between the RGB and depth (RGB-D) images still remain to be improved. In this paper, we propose a post-rectification approach of the depth images to improve the accuracy and precision of depth information. Firstly, we calibrate the Kinect v2 with a planar checkerboard pattern. Secondly, we propose a post-rectification approach of the depth images according to the reflectivity-related depth error. Finally, we conduct tests to evaluate this post-rectification approach from the perspectives of accuracy and precision. In order to validate the effect of our post-rectification approach, we apply it to RGB-D simultaneous localization and mapping (SLAM) in an indoor environment. Experimental results show that once our post-rectification approach is employed, the RGB-D SLAM system can perform a more accurate and better visual effect 3D reconstruction of indoor scenes than other state-of-the-art methods.https://www.mdpi.com/2220-9964/6/11/349camera calibrationKinect v2reflectivity-related depth errorsimultaneous localization and mapping (SLAM)time-of-flight |
| spellingShingle | Jichao Jiao Libin Yuan Weihua Tang Zhongliang Deng Qi Wu A Post-Rectification Approach of Depth Images of Kinect v2 for 3D Reconstruction of Indoor Scenes ISPRS International Journal of Geo-Information camera calibration Kinect v2 reflectivity-related depth error simultaneous localization and mapping (SLAM) time-of-flight |
| title | A Post-Rectification Approach of Depth Images of Kinect v2 for 3D Reconstruction of Indoor Scenes |
| title_full | A Post-Rectification Approach of Depth Images of Kinect v2 for 3D Reconstruction of Indoor Scenes |
| title_fullStr | A Post-Rectification Approach of Depth Images of Kinect v2 for 3D Reconstruction of Indoor Scenes |
| title_full_unstemmed | A Post-Rectification Approach of Depth Images of Kinect v2 for 3D Reconstruction of Indoor Scenes |
| title_short | A Post-Rectification Approach of Depth Images of Kinect v2 for 3D Reconstruction of Indoor Scenes |
| title_sort | post rectification approach of depth images of kinect v2 for 3d reconstruction of indoor scenes |
| topic | camera calibration Kinect v2 reflectivity-related depth error simultaneous localization and mapping (SLAM) time-of-flight |
| url | https://www.mdpi.com/2220-9964/6/11/349 |
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