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Figure 8 – uploaded by Thiago de Castro Martins

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Figure 8. Reconstructed scene for a large translational (9 cm) movement of the sensor.

Figure 8 Reconstructed scene for a large translational (9 cm) movement of the sensor.

Related Figures (11)

Figure 1. Kinect structured-light pattern, a known pattern is projected onto the scene and depth is inferred from the deformation of that pattern.
Figure 1. Kinect structured-light pattern, a known pattern is projected onto the scene and depth is inferred from the deformation of that pattern.
Figure 2. Kinect camera. Depth resolution: 640 x 480 px, RGB resolution: 1600 x 1200 px.
Figure 2. Kinect camera. Depth resolution: 640 x 480 px, RGB resolution: 1600 x 1200 px.
Figure 3. Relative depth and measured disparity relationship.
Figure 3. Relative depth and measured disparity relationship.
4.2.1 Translational Alignment Error
4.2.1 Translational Alignment Error
Figure 5. Point Cloud generated by the ICP for a small translational (3 cm) movement of the sensor.
Figure 5. Point Cloud generated by the ICP for a small translational (3 cm) movement of the sensor.
Figure 6. Point Cloud generated by the ICP for a large translational (9 cm) movement of the sensor.
Figure 6. Point Cloud generated by the ICP for a large translational (9 cm) movement of the sensor.
Figure 7. Reconstructed scene for a small translational (3 cm) movement of the sensor.
Figure 7. Reconstructed scene for a small translational (3 cm) movement of the sensor.
Figure 9. Point Cloud generated by the ICP for a small rotational (40 degrees) movement of the sensor
Figure 9. Point Cloud generated by the ICP for a small rotational (40 degrees) movement of the sensor
Figure 10. Point Cloud generated by the ICP for a small rotational (90 degrees) movement of the sensor.
Figure 10. Point Cloud generated by the ICP for a small rotational (90 degrees) movement of the sensor.
Figure 12. Distance Error between point clouds considering only rotation.
Figure 12. Distance Error between point clouds considering only rotation.
Figure 11. Distance Error between point clouds considering only translation.
Figure 11. Distance Error between point clouds considering only translation.
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