ABSTRACT
Reconstruction and measurement of environment can improve the accuracy of indoor robot control, but the three-dimensional (3D) sensor is expensive and large, and cannot be used widely. However, low cost, reliability, and high measuring speed of Kinect have totally changed this situation. In this paper, we analyze the vision system structure of Kinect and calibrate the RGB camera for calculating the instinct and distortion parameters. Through the processing of original point cloud, we build a triangular mesh topology structure and obtain a 3D reconstruction model. Finally, we measure a standard component using Kinect and calculate the measuring accuracy by comparing the measurement value with the true value. Through the research on 3D reconstruction and measurement using Kinect, we can provide a good solution for robotic vision.
