A simple evaluation procedure for range camera measurement quality

Range cameras suffer from both systematic and random errors. We present a procedure to evaluate both types of error separately in one test. To quantify the systematic errors, we use an industrial robot to provide a ground truth motion of the range sensor. We present an error metric that compares this ground truth motion with the calculated motion, using the range data of the range sensor. The only item present in the scene is a white plane that we move in different positions during the experiment. This plane is used to compute the range sensor motion for the purpose of systematic error measurement, as well as to quantify the random error of the range sensor. As opposed to other range camera evaluation experiments this method does not require any extrinsic system calibration, high quality ground truth test scene or complicated test objects. Finally, we performed the experiment for three common Time-of-flight (TOF) cameras: Kinect One, Mesa SR4500 and IFM 03D303 and compare their performance.

Publication year:2016

Keywords:A1 Journal article

BOF-keylabel:yes

Authors from:Higher Education

Accessibility:Open