Evaluation of Depth Sensors for Robotic Applications

• Type: Article in International Conference Proceedings Book
• Date: 2015

Authors

Pinto, AM (Author) FEUP; Paulo Gomes da Costa (Author) FEUP; António Paulo Moreira (Author) FEUP; Rocha, LF (Author) FEUP; Moreira, E (Author) Other; Germano Veiga (Author) FEUP

Conference proceedings International

Title: 2015 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC)

Pages: 139-143

9th IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

Vila Real, PORTUGAL, APR 08-10, 2015

Indexing

ISI Web of Knowledge - 20 Citations

Scopus - 26 Citations

Other information

Authenticus ID: P-00G-CQW

DOI: 10.1109/icarsc.2015.24

Abstract (EN): The sensors that acquire 3D data play an important role in many applications. In addition, they have been used in the robotic field for several purposes, for instance, enhancing the navigation of mobile robots, object detection, scene reconstruction, 3D inspection of parts and others. Moreover, a significant amount of devices with distinct cost, accuracy and features have been released in the recent years which increases the difficulty of comparing each sensor in a proper manner or choosing the most suitable device for a specific task and operation field. This paper compares the Kinect v1, Kinect v2, Structure Sensor and Mesa Imaging SR4000. The noise of each sensor is characterized for different distances and considering objects with different colors. Therefore, this paper proposes a simple but quantitative benchmark for evaluating 3D devices that characterizes the most relevant features for the robotic field and in accordance with different type of operations.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 5