Proceedings ArticleDOI
KinectFusion: real-time 3D reconstruction and interaction using a moving depth camera
Shahram Izadi,David Kim,Otmar Hilliges,David Molyneaux,Richard Newcombe,Pushmeet Kohli,Jamie Shotton,Steve Hodges,Dustin Freeman,Andrew J. Davison,Andrew Fitzgibbon +10 more
- pp 559-568
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TLDR
Novel extensions to the core GPU pipeline demonstrate object segmentation and user interaction directly in front of the sensor, without degrading camera tracking or reconstruction, to enable real-time multi-touch interactions anywhere.Abstract:
KinectFusion enables a user holding and moving a standard Kinect camera to rapidly create detailed 3D reconstructions of an indoor scene. Only the depth data from Kinect is used to track the 3D pose of the sensor and reconstruct, geometrically precise, 3D models of the physical scene in real-time. The capabilities of KinectFusion, as well as the novel GPU-based pipeline are described in full. Uses of the core system for low-cost handheld scanning, and geometry-aware augmented reality and physics-based interactions are shown. Novel extensions to the core GPU pipeline demonstrate object segmentation and user interaction directly in front of the sensor, without degrading camera tracking or reconstruction. These extensions are used to enable real-time multi-touch interactions anywhere, allowing any planar or non-planar reconstructed physical surface to be appropriated for touch.read more
Citations
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An adaptable system for RGB-D based human body detection and pose estimation: Incorporating attached props
TL;DR: In this paper, a method for generating training data of human postures with attached objects was proposed, and the results showed a significant increase in body-part classification accuracy for subjects with props from 60% to 94% using the generated image set.
Journal ArticleDOI
Run-Time Scheduling Framework for Event-Driven Applications on a GPU-Based Embedded System
TL;DR: This work proposes a novel run-time scheduling framework that considers both temporal and spatial preemptions concurrently in a GPU and demonstrates the capability and novelty of the framework compared to the existing scheduling frameworks with realistic benchmark applications and with different execution scenarios.
Journal ArticleDOI
Development of a Mobile Robotic Phenotyping System for Growth Chamber-based Studies of Genotype x Environment Interactions
TL;DR: A Mecanum-wheeled, magnetic-tape-following indoor rover has been developed to accurately and autonomously move between and inside growth chambers, simulating the future use of sensors such as a fluorimeter and Raman spectrometer.
Journal ArticleDOI
Fusion hand gesture segmentation and extraction based on CMOS sensor and 3D sensor
TL;DR: This paper based on Kinect sensor developed by Microsoft gives an introduction on its hardware structure and the measuring method of depth camera and introduces the traditional skin colour image segmentation method in HSV and YCbCr colour space.
Proceedings ArticleDOI
FusionKit: a generic toolkit for skeleton, marker and rigid-body tracking
TL;DR: This paper presents a model for the Kinect v2 camera, by using statistical modelling on capture datasets using such cameras and a marker-based ground truth capture system to improve the overall accuracy of the fusion output by 68% by predicting data quality with an error of around 3.2 cm.
References
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Proceedings ArticleDOI
KinectFusion: Real-time dense surface mapping and tracking
Richard Newcombe,Shahram Izadi,Otmar Hilliges,David Molyneaux,David Kim,Andrew J. Davison,Pushmeet Kohi,Jamie Shotton,Steve Hodges,Andrew Fitzgibbon +9 more
TL;DR: A system for accurate real-time mapping of complex and arbitrary indoor scenes in variable lighting conditions, using only a moving low-cost depth camera and commodity graphics hardware, which fuse all of the depth data streamed from a Kinect sensor into a single global implicit surface model of the observed scene in real- time.