A Versatile method for depth Data error estimation in RGB-D sensors

Avila, Elizabeth Viviana Cabrera; Fernandez, Luiz Enrique Ortiz; Slva, Bruno Marques Ferreira a; clua, Esteban Walter G.; Goncalves, Luiz Marcos Garcia

A Versatile method for depth Data error estimation in RGB-D sensors

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dc.contributor.author	Avila, Elizabeth Viviana Cabrera
dc.contributor.author	Fernandez, Luiz Enrique Ortiz
dc.contributor.author	Slva, Bruno Marques Ferreira a
dc.contributor.author	clua, Esteban Walter G.
dc.contributor.author	Goncalves, Luiz Marcos Garcia
dc.date.accessioned	2020-12-30T14:44:09Z
dc.date.available	2020-12-30T14:44:09Z
dc.date.issued	2018-09-13
dc.description.resumo	We propose a versatile method for estimating the RMS error of depth data provided by generic 3D sensors with the capability of generating RGB and depth (D) data of the scene, i.e., the ones based on techniques such as structured light, time of flight and stereo. A common checkerboard is used, the corners are detected and two point clouds are created, one with the real coordinates of the pattern corners and one with the corner coordinates given by the device. After a registration of these two clouds, the RMS error is computed. Then, using curve fittings methods, an equation is obtained that generalizes the RMS error as a function of the distance between the sensor and the checkerboard pattern. The depth errors estimated by our method are compared to those estimated by state-of-the-art approaches, validating its accuracy and utility. This method can be used to rapidly estimate the quality of RGB-D sensors, facilitating robotics applications as SLAM and object recognition	pt_BR
dc.identifier.citation	CABRERA, Elizabeth; ORTIZ, Luis; SILVA, Bruno; CLUA, Esteban; GONÇALVES, Luiz. A Versatile Method for Depth Data Error Estimation in RGB-D Sensors. Sensors, [S.L.], v. 18, n. 9, p. 3122-3122, 16 set. 2018. Disponível em: https://www.mdpi.com/1424-8220/18/9/3122. Acesso em: 19 out. 2020. http://dx.doi.org/10.3390/s18093122.	pt_BR
dc.identifier.doi	10.3390/s18093122
dc.identifier.issn	1424-8220
dc.identifier.uri	https://repositorio.ufrn.br/handle/123456789/31164
dc.language	en	pt_BR
dc.publisher	MDPI	pt_BR
dc.rights	Attribution 3.0 Brazil	*
dc.rights.uri	http://creativecommons.org/licenses/by/3.0/br/	*
dc.subject	RMS error	pt_BR
dc.subject	RGB-D sensors	pt_BR
dc.subject	Accuracy	pt_BR
dc.title	A Versatile method for depth Data error estimation in RGB-D sensors	pt_BR
dc.type	article	pt_BR