CSCI 473/573
Human-Centered Robotics
September 4, 2015
Uncanny Valley
2
Uncanny Valley
3
3D Sensing
4
3D Sensing
• Stereo camera: Two problems:
• Correspondence
• Reconstruction
P
Ir
Il
Ir
Pl
Fl
Fr
Left camera
system
(a)
Il
Pr
Pr 
Right camera
system
= disparity
Pl
(b)
5
Stereo Depth Sensing
6
Stereo Depth Sensing
Another issue:
SLOW!
7
Stereo Depth Sensing
•Reconstruction
8
Stereo Depth Sensing
•Reconstruction
9
Stereo Depth Sensing
•Reconstruction: noise
10
3D Sensing
• Color-depth camera
Less than $100
~ $190
Bought by Apple Inc. for
$350 million in Nov, 2013
11
Kinect
12
How Kinect works?
• Microsoft licensed this technology from PrimeSense
• The depth computation is all done by the hardware built into Kinect
• Details are not publicly available
13
Kinect
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How Kinect Works
One viewpoint sometimes cannot work well.
15
How Kinect Works
Stereo sensing is OK in some (or most) cases.
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How Kinect Works
But... NOT all.
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How Kinect Works
IR projects a pattern to
the scene
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How Kinect Works
The pattern can differenciate linear view changes
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How Kinect Works
The pattern can be also used to locate the same
point, thus solving the correspondence problem.
20
How Kinect Works
The pattern can be also used to locate the same
point, thus solving the correspondence problem.
21
How Kinect Works
So… What is the key technology in Kinect?
22
How Kinect Works
So… What is the key technology in Kinect?
Projected Pattern!
23
How Kinect Works
So… What is the key technology in Kinect?
Projected Pattern!
• Must be able to encode depth
• Must be different between each other
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How Kinect Works
Kinect Projected Pattern
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How Kinect Works
Kinect Projected Pattern
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How Kinect Works
No pattern groups look like any another
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How Kinect Works
Then use
the same
triangulation
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Real-Life Transformer Robot
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