OBSTACLE DETECTION
WITH THE KINECT SENSOR
Thomas Brown
INTRODUCTION
INTRODUCTION/GOAL
INTRODUCTION
Up to 12” in
diameter
Craters or rocks
Up to three of
each
APPROACH
Detect Ground Plane
Mark objects above or below the
plane as obstacles.
Extract coordinates of the
obstacles.
KINECT PROPERTIES
Horizontal FOV: 57 deg
Vertical FOV: 43 Deg
Depth Sensor Range: 1.2m- 3.5m (0.7–6 m)
640x480 32 bit color @ 30 FPS/320x240 16-bit color @ 30 FPS
APPROACH
 Kinect provides a depth map
EXTRACTING PHYSICAL VALUES
 Depth value ranges from about 600 to 6000
APPROACH
 Kinect provides a depth map
APPROACH
 Angular Calculations
 Horizontal
 57 deg / 640 pixles = .0806 deg/pixel
 Vertical
 43 deg / 480 pixles = .0958 deg/pixel
APPROACH
 Given Horizontal Angle, Vertical Angle, Depth
APPROACH
 Get X, Y, and Z
Y VALUES -- OVERFLOW
RANSAC
(RANDOM SAMPLE CONSENSUS)
3D RANSAC FOR PLANE DETECTION
 Video
CALCULATE OBJECTS ABOVE PLANE
MORPHOLOGICAL DIALATION
DISCUSSION/DOES WELL
Detecting Major Ground Plane
Calculating Distances
Extracting Larger Obstacles
When the Kinect Is at a High Angle
DISCUSSION/IMPROVEMENTS
Detecting Craters More Efficiently
Regression Plane on Inliers
Targeted Random Point Selection
Threshold Tuning
Different Shape for Ground other then
Plane
Depth Calibration