Evaluation of Distance-Aware KinFu Algorithm for Stereo Outdoor Data

Hani Javan Hemmat, Egor Bondarev, Gijs Dubbelman, Peter H. N. de With

2014

Abstract

In this paper, we report on experiments on deployment of an extended distance-aware KinFu algorithm, designed to generate 3D model from Kinect data, onto depth frames extracted from stereo camera data. The proposed idea allows to suppress the Kinect usage limitation for outdoor sensing due to the IR interference with sun light. Besides this, exploiting the stereo data enables a hybrid 3D reconstruction system capable of switching between the Kinect depth frames and stereo data depending on the quality and quantity of the 3D and visual features on a scene. While the nature of the stereo sensing and the Kinect depth sensing is completely different, the stereo camera and the Kinect show similar sensitivity to distance capturing. We have evaluated the stereo-based 3D recon- struction with the extended KinFu algorithm with the following distance aware weighting strategies: (a) weight definition to prioritize importance of the sensed data depending on its accuracy, and (b) model updating to decide about the level of influence of the new data on the existing 3D model. The qualitative compari- son of the resulting outdoor 3D models shows higher accuracy and smoothness of models obtained by introduced distance-aware strategies. The quantitative anal- ysis reveals that applying the proposed weighting strategies onto stereo datasets enables to increase robustness of the pose-estimation algorithm and its endurance by factor of two.

Paper Citation

in Harvard Style

Javan Hemmat H., Bondarev E., Dubbelman G. and de With P. (2014). Evaluation of Distance-Aware KinFu Algorithm for Stereo Outdoor Data . In Proceedings of the 9th International Conference on Computer Vision Theory and Applications - Volume 2: PANORAMA, (VISIGRAPP 2014) ISBN 978-989-758-004-8, pages 746-751. DOI: 10.5220/0004901507460751

in Bibtex Style

@conference{panorama14,
author={Hani Javan Hemmat and Egor Bondarev and Gijs Dubbelman and Peter H. N. de With},
title={Evaluation of Distance-Aware KinFu Algorithm for Stereo Outdoor Data},
booktitle={Proceedings of the 9th International Conference on Computer Vision Theory and Applications - Volume 2: PANORAMA, (VISIGRAPP 2014)},
year={2014},
pages={746-751},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004901507460751},
isbn={978-989-758-004-8},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Computer Vision Theory and Applications - Volume 2: PANORAMA, (VISIGRAPP 2014)
TI - Evaluation of Distance-Aware KinFu Algorithm for Stereo Outdoor Data
SN - 978-989-758-004-8
AU - Javan Hemmat H.
AU - Bondarev E.
AU - Dubbelman G.
AU - de With P.
PY - 2014
SP - 746
EP - 751
DO - 10.5220/0004901507460751