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Depth Sensors
WS 2014-15 Intelligent Robotics Seminar
by Savitha Nagaraju
1
Contents
Why Depth Sensors?
Techniques in Depth Sensors
Types Of Depth Sensors
Application Of Kinect Depth Sensors
Summary
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 2
Contents
Why Depth Sensors?
Techniques in Depth Sensors
Types Of Depth Sensors
Application Of Kinect Depth Sensors
Summary
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 3
Why Depth Sensors?
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 4
RGB Camera
Why Depth Sensors?
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 5
RGB Camera
RGB Camera
Why Depth Sensors?
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 6
RGB Camera
RGB Camera
Why Depth Sensors?
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 7
RGB Camera
RGB Camera
Why Depth Sensors?
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 8
Why Depth Sensors?
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RGB Camera
Depth Camera
Why Depth Sensors?
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 10
Speckle patterns
Why Depth Sensors?
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 11
Source : http://learning.codasign.com/index.php?title=Drawing_Depth_with_the_Kinect
Contents
Why Depth Sensors?
Techniques in Depth Sensors
Types Of Depth Sensors
Application Of Depth Sensors
Summary
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 12
Techniques in Depth Sensors
Stereo Triangulation
Time Of Flight
Coded Aperture
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 13
Techniques in Depth Sensors
Stereo Triangulation
Savitha Nagaraju 14
WS 2014-15 Intelligent Robotics Seminar
Source:https://courses.cs.washington.edu/courses/cse455/09wi/Lects/lect16.pdf
Techniques in Depth Sensors
Time Of Flight
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 15
Source :http://www.ti.com/lit/wp/sloa190b/sloa190b.pdf
Techniques in Depth Sensors
Coded Aperture
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 16
Techniques in Depth Sensors
Coded Aperture
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 17
Source:Image and Depth from a Conventional Camera with a Coded Aperture Anat Levin, Rob Fergus, Fredo Durand, Bill Freeman appeared in SIGGRAPH 2007
Techniques in Depth Sensors
Coded Aperture
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 18
Source:Image and Depth from a Conventional Camera with a Coded Aperture Anat Levin, Rob Fergus, Fredo Durand, Bill Freeman appeared in SIGGRAPH 2007
Contents
Why Depth Sensors?
Techniques in Depth Sensors
Types Of Depth Sensors
Application Of Kinect Depth Sensors
Summary
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 19
Types Of Depth Sensors
Intel Perceptual Computing
Leap Motion
Microsoft Kinect
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Types Of Depth Sensors
Intel Perceptual Computing
•Smaller and less expensive
•Close range tracking
•Hand posture
•Facial analysis
•Speech
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 21
Types Of Depth Sensors
Leap Motion
•Finger tracking is fast and accurate
•Smaller and less expensive
•Compatible with Mac OS and Windows
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 22
Types Of Depth Sensors
Microsoft Kinect
•Most popular among the depth sensors
•It can track 20 joints in human skeleton
•Upto 6 people can be detected and 2 skeletons
can be tracked
•Kinect for windows have near mode which
can track skeleton in sitting position
•Current version is v2.0
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Contents
Why Depth Sensors?
Techniques in Depth Sensors
Types Of Depth Sensors
Application Of Kinect Depth Sensors
Summary
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 24
Application Of Kinect Depth Sensors
Object detection and tracking
Pose Estimation
Hand Gesture Analysis
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 25
Application Of Kinect Depth Sensors
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 26
Source:Enhanced Computer Vision with Microsoft Kinect Sensor: A Review Jungong Han, Member, IEEE, Ling Shao, Senior Member, IEEE, Dong Xu, Member, IEEE, and Jamie Shotton, Member, IEEE
Application Of Kinect Depth Sensors
Pose Estimation
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 27
Source:Enhanced Computer Vision with Microsoft Kinect Sensor: A Review Jungong Han, Member, IEEE, Ling Shao, Senior Member, IEEE, Dong Xu, Member, IEEE, and Jamie Shotton, Member, IEEE
Application Of Kinect Depth Sensors
Hand Gesture Recognition
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 28
Source:Enhanced Computer Vision with Microsoft Kinect Sensor: A Review Jungong Han, Member, IEEE, Ling Shao, Senior Member, IEEE, Dong Xu, Member, IEEE, and Jamie Shotton, Member, IEEE
Contents
Why Depth Sensors?
Techniques in Depth Sensors
Types Of Depth Sensors
Application Of Kinect Depth Sensors
Summary
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 29
Summary
•Principle used in Depth Sensors
•Stereo Triangulation, Time of flight, Coded Aperture
•Intel Perceptual Computing, Leap Motion, Microsoft Kinect
•Applications
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 30
Questions?
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 31