Deterioration of depth measurements due to interference of multiple RGB-D sensors

Roberto Martin Martin*, Malte T Lorbach, Oliver Brock

*Corresponding author for this work

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    Abstract

    Depth sensors based on projected structured light have become standard in robotics research. However, when several of these sensors share the same workspace, the measurement quality can deteriorate significantly due to interference of the projected light patterns. We present a comprehensive study of this effect in Kinect and Xtion RGB-D sensors. In particular, our study investigates the effect of measurement failure due to interference. Our experiments show that up to 95% of the depth measurements in the interference image region can disappear when two RGB-D sensors interfere with each other. We determine the severity of interference as a function of relative sensor placement and propose simple guidelines to reduce the impact of sensor interference. We show that these guidelines greatly increase the robustness of RGB-D-based SLAM.

    Original languageEnglish
    Title of host publicationIEEE International Conference on Intelligent Robots and Systems
    PublisherIEEE
    Pages4205-4212
    Number of pages8
    ISBN (Print)9781479969340
    DOIs
    Publication statusPublished - 31 Oct 2014
    Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
    Duration: 14 Sept 201418 Sept 2014

    Conference

    Conference2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
    Country/TerritoryUnited States
    CityChicago
    Period14/09/1418/09/14

    Fingerprint

    Dive into the research topics of 'Deterioration of depth measurements due to interference of multiple RGB-D sensors'. Together they form a unique fingerprint.

    Cite this