Abstract
The Microsoft Kinect sensor is a low cost RGB-D sensor. In this dissertation, its calibration
is fully investigated and then these parameters are compared to the parameters
given by Microsoft and OpenNI. The parameters found were found to be di_erent to
those given by Microsoft and OpenNI therefore, every Kinect should be fully calibrated.
The transformation from the raw data to a point cloud is also investigated.
Then, the Hough transform is presented in its 2-dimensional form. The Hough transform
is a line extraction algorithm which uses a voting system. It is then compared to
the Split-and-Merge algorithm using laser range _nder data. The Hough transform is
found to compare well to the Split-and-Merge in 2 dimensions.
Finally, the Hough transform is extended into 3-dimensions for use with the Kinect
sensor. It was found that pre-processing of the Kinect data was necessary to reduce the
number of points input into the Hough transform. Three edge detectors are used - the
LoG, Canny and Sobel edge detectors. These were compared, and the Sobel detector
was found to be the best. The _nal process was then used in multiple ways - _rst to
determine its speed. Its accuracy was then investigated. It was found that the planes
extracted were very inaccurate, and therefore not suitable for obstacle avoidance in
mobile robotics. The suitability of the process for SLAM was also investigated. It was
found to be unsuitable, as planar environments did not have distinct features which
could be tracked, whilst the complex environment was not planar, and therefore the
Hough transform would not work.
O'Regan, K (2021). Investigation into the use of the Microsoft Kinect and the Hough transform for mobile robotics. Afribary. Retrieved from https://tracking.afribary.com/works/investigation-into-the-use-of-the-microsoft-kinect-and-the-hough-transform-for-mobile-robotics
O'Regan, Katherine "Investigation into the use of the Microsoft Kinect and the Hough transform for mobile robotics" Afribary. Afribary, 15 May. 2021, https://tracking.afribary.com/works/investigation-into-the-use-of-the-microsoft-kinect-and-the-hough-transform-for-mobile-robotics. Accessed 21 Nov. 2024.
O'Regan, Katherine . "Investigation into the use of the Microsoft Kinect and the Hough transform for mobile robotics". Afribary, Afribary, 15 May. 2021. Web. 21 Nov. 2024. < https://tracking.afribary.com/works/investigation-into-the-use-of-the-microsoft-kinect-and-the-hough-transform-for-mobile-robotics >.
O'Regan, Katherine . "Investigation into the use of the Microsoft Kinect and the Hough transform for mobile robotics" Afribary (2021). Accessed November 21, 2024. https://tracking.afribary.com/works/investigation-into-the-use-of-the-microsoft-kinect-and-the-hough-transform-for-mobile-robotics