Abstract
This paper presents a comprehensive metrological analysis of the Microsoft
Kinect motion sensor performed using a proprietary flat marker. The
designed marker was used to estimate its position in the external
coordinate system associated with the sensor. The study includes
calibration of the RGB and IR cameras, parameter identification and image
registration. The metrological analysis is based on the data corrected for
sensor optical distortions. From the metrological point of view,
localization errors are related to the distance of an object from the
sensor. Therefore, the rotation angles were determined and an accuracy
assessment of the depth maps was performed. The analysis was carried out
for the distances from the marker in the range of 0.8−1.65 m. The maximum
average error was equal to 23 mm for the distance of 1.6 m.
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