NDLI: Scan rectification for structured light range sensors with rolling shutters

Content Provider	IEEE Xplore Digital Library
Author	Ringaby, E. Forssen, P.
Copyright Year	2011
Description	Author affiliation: Department of Electrical Engineering, Linköping University, Sweden (Ringaby, E.; Forssen, P.)
Abstract	Structured light range sensors, such as the Microsoft Kinect, have recently become popular as perception devices for computer vision and robotic systems. These sensors use CMOS imaging chips with electronic rolling shutters (ERS). When using such a sensor on a moving platform, both the image, and the depth map, will exhibit geometric distortions. We introduce an algorithm that can suppress such distortions, by rectifying the 3D point clouds from the range sensor. This is done by first estimating the time continuous 3D camera trajectory, and then transforming the 3D points to where they would have been, if the camera had been stationary. To ensure that image and range data are synchronous, the camera trajectory is computed from KLT tracks on the structured-light frames, after suppressing the structured-light pattern. We evaluate our rectification, by measuring angles between the visible sides of a cube, before and after rectification. We also measure how much better the 3D point clouds can be aligned after rectification. The obtained improvement is also related to the actual rotational velocity, measured using a MEMS gyroscope.
Starting Page	1575
Ending Page	1582
File Size	1228391
Page Count	8
File Format	PDF
ISBN	9781457711015
ISSN	15505499
e-ISBN	9781457711022
DOI	10.1109/ICCV.2011.6126417
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-11-06
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Three dimensional displays Solid modeling Simultaneous localization and mapping Spline Trajectory
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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