A research report submitted to the faculty of Engineering and the built environment, University of the Witwatersrand, Johannesburg, in partial fulfilment of the requirements for the degree of Master of Science in Engineering.
Johannesburg, August 2016 / There has been much interest in using the Microsoft Xbox 360 Kinect
cameras for visual servo control applications. It is a relatively cheap
device with expected shortcomings. This work contributes to the practical
considerations of using the Kinect for visual servo control applications.
A comprehensive characterisation of the Kinect is synthesised
from existing literature and results from a nonlinear calibration procedure.
The Kinect reduces computational overhead on image processing
stages, such as pose estimation or depth estimation. It is limited
by its 0.8m to 3.5m practical depth range and quadratic depth resolution
of 1.8mm to 35mm, respectively. Since the Kinect uses an
infra-red (IR) projector, a class one laser, it should not be used outdoors,
due to IR saturation, and objects belonging to classes of non-
IR-friendly surfaces should be avoided, due to IR refraction, absorption,
or specular reflection. Problems of task stability due to invalid
depth measurements in Kinect depth maps and practical depth range
limitations can be reduced by using depth map preprocessing and
activating classical visual servoing techniques when Kinect-based approaches
are near task failure. / MT2017
| Identifer | oai:union.ndltd.org:netd.ac.za/oai:union.ndltd.org:wits/oai:wiredspace.wits.ac.za:10539/22670 |
| Date | January 2016 |
| Creators | Chung, Yin-Han |
| Source Sets | South African National ETD Portal |
| Language | English |
| Detected Language | English |
| Type | Thesis |
| Format | Online resource (xv, 72 leaves), application/pdf, application/pdf |
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