Abstract
Range cameras suffer from both systematic and random errors. We present a procedure to evaluate both types of error separately in one test. To quantify the systematic errors, we use an industrial robot to provide a ground truth motion of the range sensor. We present an error metric that compares this ground truth motion with the calculated motion, using the range data of the range sensor. The only item present in the scene is a white plane that we move in different positions during the experiment. This plane is used to compute the range sensor motion for the purpose of systematic error measurement, as well as to quantify the random error of the range sensor. As opposed to other range camera evaluation experiments this method does not require any extrinsic system calibration, high quality ground truth test scene or complicated test objects. Finally, we performed the experiment for three common Time-of-flight (TOF) cameras: Kinect One, Mesa SR4500 and IFM 03D303 and compare their performance.
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Acknowledgements
The first author holds a PHD grant from the research Fund-Flanders (FWO Vlaanderen). This research has also been funded by the government agency Flanders Innovation & Entrepreneurship (VLAIO) by the support to the TETRA project Smart data clouds with project number 140336 and the Research Council of University of Antwerp (Stim-KP 31128 & the Research Committee of the Faculty of applied engineering fti-OZC).
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Bogaerts, B., Penne, R., Sels, S., Ribbens, B., Vanlanduit, S. (2016). A Simple Evaluation Procedure for Range Camera Measurement Quality. In: Blanc-Talon, J., Distante, C., Philips, W., Popescu, D., Scheunders, P. (eds) Advanced Concepts for Intelligent Vision Systems. ACIVS 2016. Lecture Notes in Computer Science(), vol 10016. Springer, Cham. https://doi.org/10.1007/978-3-319-48680-2_26
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DOI: https://doi.org/10.1007/978-3-319-48680-2_26
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