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Using the Xbox Kinect to Detect Features of the Floor Surface

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Using the Xbox Kinect to Detect Features of the Floor Surface USING THE XBOX KINECT TO DETECT FEATURES OF THE FLOOR SURFACE By STEPHANIE COCKRELL Submitted in partial fulfillment of the requirements For the degree of Master of Science Thesis Advisor: Gregory Lee Department of Electrical Engineering and Computer Science CASE WESTERN RESERVE UNIVERSITY May, 2013 CASE WESTERN RESERVE UNIVERSITY SCHOOL OF GRADUATE STUDIES We hereby approve this thesis/dissertation of _________Stephanie Cockrell_________ candidate for the Master of Science degree *. (signed) _______Gregory Lee_________ ___________Frank Merat___________ ________M. Cenk Cavusoglu________ (date) ___December 12, 2012__________ * We also certify that written approval has been obtained for any proprietary material contained therein. Table of Contents List of Tables ................................................................................................................................... v List of Figures ................................................................................................................................. vi Acknowledgements ......................................................................................................................... ix Abstract ............................................................................................................................................ x Chapter 1: Introduction .................................................................................................................... 1 Chapter 2: Literature Review ........................................................................................................... 5 Smart wheelchairs and obstacle detection ................................................................................... 5 Kinect ........................................................................................................................................... 6 Drivable surfaces ......................................................................................................................... 7 Uneven surfaces and ramps ......................................................................................................... 8 Chapter 3: Characterization of the Kinect ...................................................................................... 11 Software and hardware .............................................................................................................. 12 Distance limitations ................................................................................................................... 12 Distortion ................................................................................................................................... 14 Mounting angle .......................................................................................................................... 18 Selection of angle and height ..................................................................................................... 24 Chapter 4: Calculating the transform ............................................................................................. 27 Best-fit plane .............................................................................................................................. 27 Compute a rotation matrix ......................................................................................................... 27 Error ........................................................................................................................................... 28 Repeatability .............................................................................................................................. 31 Chapter 5: Classifying features of the floor surface ...................................................................... 35 Creating a height map ................................................................................................................ 36 Identifying bumps and obstacles ................................................................................................ 42 Identifying level floors and ramps ............................................................................................. 46 Results ........................................................................................................................................ 52 Speed .......................................................................................................................................... 63 Summary .................................................................................................................................... 65 Chapter 6: Conclusions and Future Work ...................................................................................... 67 Appendix A: Comparison of different floors ................................................................................. 69 Appendix B: Selection of points for calibration ............................................................................ 74 iii Estimate the slope at each data point ......................................................................................... 75 Obtain an estimate for the angle of the Kinect ........................................................................... 79 Calculate the Kinect’s height ..................................................................................................... 80 Accuracy .................................................................................................................................... 81 Bibliography .................................................................................................................................. 83 iv List of Tables Table 1: Technical specifications for the Kinect. .......................................................................... 11 Table 2: Rms errors for the region used for calibration and for the entire field of view. .............. 30 Table 3: Rms errors for 16 data sets with repect to their best-fit planes. ....................................... 32 Table 4: Time required to run each of the 6 parts of the algorithm. .............................................. 64 Table 5: Statistics on the data returned for different types of floors. ............................................. 70 Table 6: Comparing different values for the parameter “smoothConstant”, to find the result closest to the best-fit plane. ............................................................................................................ 78 Table 7: Evaluating the rms error for planes calculated by three different methods. .................... 82 v List of Figures Figure 1: Sample output from the Kinect’s depth camera and RGB camera. ................................ 11 Figure 2: Depth image of a hand 20 cm away from the Kinect. .................................................... 13 Figure 3: Depth image of a hand 60 cm away from the Kinect. .................................................... 13 Figure 4: Depth image and RGB image in a long hallway, showing the Kinect has a limitation in seeing long distances. ....................................................................................................... 14 Figure 5: Distortion due to the camera is very limited.. ................................................................ 15 Figure 6: Same data as the previous figure, but the figure has been rotated. Distortion due to the camera is very limited. ...................................................................................................... 16 Figure 7: Same data as the previous figure, but the figure has been rotated. Distortion due to the camera is very limited. ...................................................................................................... 17 Figure 8: The Kinect’s field of view for the data in the previous three images. ............................ 17 Figure 9: Depth image and RGB image of a room with a white floor. The Kinect’s line of sight is parallel to the floor surface. ........................................................................................... 18 Figure 10: Red and white floor. The Kinect is mounted at a 20 degree angle from the horizontal. .......................................................................................................................................... 19 Figure 11: Red and white floor. The Kinect is mounted at a 30 degree angle from the horizontal. .......................................................................................................................................... 19 Figure 12: Red and white floor. The Kinect is mounted at a 40 degree angle from the horizontal. .......................................................................................................................................... 19 Figure 13: Red and white floor. The Kinect is mounted at a 50 degree angle from the horizontal. .......................................................................................................................................... 20 Figure 14: Red and white floor. The Kinect is mounted at a 60 degree angle from the horizontal. .......................................................................................................................................... 20 Figure 15:Black floor. The Kinect is mounted at a 20 degree angle from the horizontal. ............. 21 Figure 16: Black floor. The Kinect is mounted at a 30 degree angle from the horizontal. ...........
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