kinect深度相机的精度 [英] Precision of the kinect depth camera

问题描述

深度相机在Kinect中的精度如何?

• 范围?
• 分辨率?
• 噪音?

我特别想知道:

• 微软有关于它的官方规格吗?
• 是否有关于该主题的科学论文?
• 来自TechBlogs的调查?
• 易于复制的个人实验?

我现在要收集大约一天的数据，但是大多数作者都没有透露他们的出处，而且值似乎大不相同...

解决方案

• 范围:〜50厘米至5 m.可以靠近一些部分(约40厘米)，但不能使整个视图< 50厘米.
• 水平分辨率:640 x 480，垂直FOV为45度，水平FOV为58度.简单的几何图形显示在50 cm处每个像素x y约为0.75 mm，在2 m处每个像素x y约为3 mm.
深度分辨率:50厘米时约1.5毫米.在5 m处约5厘米.
• 噪声:所有深度的DN约为+ -1，但DN到深度是非线性的.这意味着+ -1毫米的距离和+-5厘米的距离.

有些传感器开发人员提供了官方规格，而不是Microsoft的.我还没有科学论文.大量的调查和实验(请参阅Google). OpenKinect 与这些站点相比，目前对这些事情的讨论更多. /p>

How precise is the depth camera in the kinect?

• range?
• resolution?
• noise?

Especially I'd like to know:

• Are there any official specs about it from Microsoft?
• Are there any scientific papers on the subject?
• Investigations from TechBlogs?
• Personal experiments that are easy to reproduce?

I'm collecting data for about a day now, but most of the writers don't name their sources and the values seem quite to differ...

解决方案

• Range: ~ 50 cm to 5 m. Can get closer (~ 40 cm) in parts, but can't have the full view be < 50 cm.
• Horizontal Resolution: 640 x 480 and 45 degrees vertical FOV and 58 degrees horizontal FOV. Simple geometry shows is about ~ 0.75 mm per pixel x by y at 50 cm, and ~ 3 mm per pixel x by y at 2 m.
• Depth resolution: ~ 1.5 mm at 50 cm. About 5 cm at 5 m.
• Noise: About +-1 DN at all depths, but DN to depth is non-linear. This means +-1 mm close, and +- 5 cm far.

There are official specs from the sensor developer, not from Microsoft. No scientific papers that I know of yet. Plenty of investigations and experiments (see Google). The OpenKinect has a lot more discussion on these things than this site for now.

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