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首页> 外文期刊>Plasma and Fusion Research >Localization System using Microsoft Kinect for Indoor Structures
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Localization System using Microsoft Kinect for Indoor Structures

机译：使用Microsoft Kinect进行室内结构的本地化系统

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This paper proposes a localization system using the Microsoft Kinect sensor. It is difficult to accurately measure self-position and self-posture by a red-green-blue (RGB) image sensor, since the accuracy in the depth direction of an image sensor tends to be worse than that in other directions using only an RGB image sensor. The Kinect sensor has both an RGB image sensor and a depth sensor. This sensor can directly calculate the depth value; therefore, the accuracy in the depth direction is better. In the proposed system, natural feature points are detected from an image by a Harris interest operator, and the depth data of these feature points are obtained from the depth sensor. After that, these points are tracked by the template matching method. The camera's position and posture are calculated from the position of these tracked points. Finally, we provide examples of 3D scene reconstruction and estimation results.
机译：本文提出了使用Microsoft Kinect传感器的定位系统。通过红-绿-蓝（RGB）图像传感器很难准确地测量自己的位置和姿势，这是因为图像传感器的深度方向的精度往往比仅使用RGB的其他方向的精度差图像传感器。 Kinect传感器同时具有RGB图像传感器和深度传感器。该传感器可以直接计算深度值;因此，深度方向的精度更好。在提出的系统中，Harris兴趣算子从图像中检测自然特征点，并从深度传感器获得这些特征点的深度数据。之后，通过模板匹配方法跟踪这些点。根据这些跟踪点的位置计算出摄像机的位置和姿势。最后，我们提供了3D场景重建和估计结果的示例。

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