Indoor 3D Reconstruction with MicroSoft Kinect

Kinect is a motion capture device of MicroSoft Xbox360. It can capture depth of the image by a binocular-like depth sensor based on IR. For more information about the device, please go to the Primesence and ROS Kinect web site.

kinect3

func

Currently, many researcher tried to use kinect as a depth camera to get real-time 3D reconstruction system of indoor environment. We also have a try with our SLAM system and a new KLT-LM algorithm. Additionally, we use a pan unit of our lab to get a high accuracy result of the indoor environment point cloud.

SLAM based Kinect Real-time Indoor 3D Reconstruction

We use RGB-camera of Kinect as a monocular camera of monocular SLAM and initialized features from environment by the ourput of depth sensor of Kinect, then get a real-time environment 3D reconstruction method.

Flowchart:

slamkinect

Result:

slam1

slam2

(Demo1)

KLT-LM based Kinect Real-time Indoor 3D Reconstruction

We use KLT optical flow tracking method to track corner points from RGB-camera of Kinect, and get the 3D points correspondence, then use [I 0] as initial of LM optimization algorithm to get the finial rigidbody transform of two frames. By this way, we get a real-time 3D reconstruction system.

Flowchart:

lmkinect

Result:

lm1

lm2

(Demo2)

Pan Unit based Kinect Indoor 3D Reconstruction

For high accuracy requirement, we developed a pan unit based indoor 3D reconstruction system with Kinect.

Device:

panunit

Result:

indoor1

indoor2indoor3