Projects:2016s1-146 Antonomous Robotics using NI MyRIO - Vision Method

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Obstacle Mapping Method

The lens distortion correction method used was the Brown-Conrady model [1][2][3]. The equations used in this method are shown below.

Brown-Conrady model equations

These equations were tested in Matlab using the parameters derived in [2]. The results of these tests are shown below.

Distortion Correction in Matlab

This model allows for an accurate 3D representation of the Kinect's IR camera to be created. This 3D data is then rotated and translated to produce an obstacle map in 3D relative to the robot's position. This is done using the equation below.

Equations for Rotating and Translating Relative to Robot's Origin Point

Again, this equation was tested in Matlab. The results of this test are shown below.

Rotation and Translation Test in Matlab


References

  1. ↑ D. Brown, “Close-range camera calibration,” Photogramm. Eng, vol. 37, p. 855–866, 1971.
  2. ↑ 2.0 2.1 K. Khoshelham and S. Elberink, “Accuracy and Resolution of Kinect Depth Data for Indoor,” Sensors, vol. 12, pp. 1437-1454, 2012.
  3. ↑ Markus, “Removing lens distortion and camera parameters,” Microsoft Developer Network Forum, 27 April 2015. [Online]. Available: https://social.msdn.microsoft.com/Forums/en-US/5e4fadac-d148-4cf8-823e-f4a3842f7cd5/removing-lens-distortion-and-camera-parameters?forum=kinectv2sdk. [Accessed 20 October 2016].
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