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학술대회 Accurate Fusing Multiple RGBD Sensors Using Geometry
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저자
전서현, 노명찬, 이주행, 이재연
발행일
201510
출처
International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2015, pp.18-21
DOI
https://dx.doi.org/10.1109/URAI.2015.7358919
협약과제
14PC6500, 병원의 광역 환경에 적용가능한 물류 로봇 시스템 개발, 이재연
초록
This paper proposes an approach for fusing multiple RGBD sensors using geometry obtained from the captured image. We used Xtion Pro Live as the RGBD sensor. With the coupled line camera (CLC) method, the position of the camera is geometrically reconstructed when the size of a quadrilateral in the captured image is known. After roughly setting the hardware of multiple sensors on the frame, accurate calibration is proceeded by software using CLC. When positions of sensors are decided, the center of sensors can be derived. Input data of each sensors are reconstructed with this center point afterwards. Prior to the calibration, the method for connecting multiple sensors on a laptop is described and different square patterns used for calibration is discussed.
키워드
calibration, fusion, Multiple, sensor, Xtion
KSP 제안 키워드
Center point, Coupled line, RGB-D Sensor, Xtion PRO, input data, multiple sensors, square pattern