spatial uncertainty model for visual features using a kinect？ sensor视觉特性的空间不确定性模型使用kinect 传感器.pdf

Sensors 2012, 12, 8640-8662; doi:10.3390/s120708640 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article Spatial Uncertainty Model for Visual Features Using a Kinect™ Sensor Jae-Han Park *, Yong-Deuk Shin, Ji-Hun Bae and Moon-Hong Baeg Robot Convergence R D Group, Korea Institute of Industrial Technology (KITECH), 1271-18, Sa-3-dong, Sangrok-gu, Ansan 426791, Korea; E-Mails: syd@kitech.re.kr (Y.-D.S.); joseph@kitech.re.kr (J.-H.B.); mhbaeg@kitech.re.kr (M.-H.B.) * Author to whom correspondence should be addressed; E-Mail: hans1024@kitech.re.kr; Tel.: +82-31-8040-6273; Fax: +82-31-8040-6270. Received: 18 May 2012; in revised form: 12 June 2012 / Accepted: 13 June 2012 / Published: 26 June 2012 Abstract: This study proposes a mathematical uncertainty model for the spatial measurement of visual features using Kinect™ sensors. This model can provide qualitative and quantitative analysis for the utilization of Kinect™ sensors as 3D perception sensors. In order to achieve this objective, we derived the propagation relationship of the uncertainties between the disparity image space and the real Cartesian space with the mapping function between the two spaces. Using this propagation relationship, we obtained the mathematical model for the covariance matrix of the measurement error, which represents the uncertainty for spatial position of visual features from Kinect™ sensors.