论文部分内容阅读
本文提出了一种基于像素级别的Kinect2.0深度误差补偿方法。首先,利用Kinect2.0传感器在不同的位置处采集一个标准平面。第二,利用最小二乘法将采集的三维数据进行平面拟合,作为理论平面数据。第三,逐像素点地计算Kinect2.0传感器的深度误差,并建立一个三维查找表。第四,通过建立一个三维查找表,在测量过程中通过插值方法计算每个像素点的深度,实现Kinect2.0测量数据深度方向的误差补偿。实验结果表明,所研究的误差补偿方法在Kinect2.0内部参数未知的情况下,能稳定可靠地将Kinect2.0的平均测量误差减小到0.8mm以内。对于Kinect2.0在较高精度场合的应用,本文算法能够使测量精度达到更高。
This paper presents a Kinect2.0 depth error compensation method based on pixel level. First, a Kinect 2.0 sensor is used to acquire a standard plane at various locations. Second, using the least square method, the collected three-dimensional data is fitted to the plane as theoretical plane data. Third, calculate the depth error of the Kinect2.0 sensor pixel by pixel and create a three-dimensional look-up table. Fourth, through the establishment of a three-dimensional look-up table, the depth of each pixel is calculated through the interpolation method in the measurement process to realize the error compensation in the depth direction of the Kinect2.0 measurement data. The experimental results show that the error compensation method studied can reduce the average measurement error of Kinect2.0 to within 0.8mm with stability and reliability under the condition of unknown internal parameters of Kinect2.0. For the application of Kinect2.0 in high-precision occasions, the algorithm in this paper can make the measurement accuracy reach higher.