Modelling the Xbox 360 Kinect for visual servo control applications

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dc.contributor.authorChung, Yin-Han
dc.date.accessioned2017-05-22T07:56:22Z
dc.date.available2017-05-22T07:56:22Z
dc.date.issued2016
dc.descriptionA research report submitted to the faculty of Engineering and the built environment, University of the Witwatersrand, Johannesburg, in partial fulfilment of the requirements for the degree of Master of Science in Engineering. Johannesburg, August 2016en_ZA
dc.description.abstractThere has been much interest in using the Microsoft Xbox 360 Kinect cameras for visual servo control applications. It is a relatively cheap device with expected shortcomings. This work contributes to the practical considerations of using the Kinect for visual servo control applications. A comprehensive characterisation of the Kinect is synthesised from existing literature and results from a nonlinear calibration procedure. The Kinect reduces computational overhead on image processing stages, such as pose estimation or depth estimation. It is limited by its 0.8m to 3.5m practical depth range and quadratic depth resolution of 1.8mm to 35mm, respectively. Since the Kinect uses an infra-red (IR) projector, a class one laser, it should not be used outdoors, due to IR saturation, and objects belonging to classes of non- IR-friendly surfaces should be avoided, due to IR refraction, absorption, or specular reflection. Problems of task stability due to invalid depth measurements in Kinect depth maps and practical depth range limitations can be reduced by using depth map preprocessing and activating classical visual servoing techniques when Kinect-based approaches are near task failure.en_ZA
dc.description.librarianMT2017en_ZA
dc.format.extentOnline resource (xv, 72 leaves)
dc.identifier.citationChung, Yin-Han (2016) Modelling the Xbox 360 Kinect for visual servo control applications, University of the Witwatersrand, Johannesburg, <http://hdl.handle.net/10539/22670>
dc.identifier.urihttp://hdl.handle.net/10539/22670
dc.language.isoenen_ZA
dc.subject.lcshXbox video games--Equipment and supplies
dc.subject.lcshVideo games--Equipment and supplies
dc.subject.lcshXbox 360 (Video game console)
dc.subject.lcshCameras--Calibration
dc.subject.lcshIntelligent control systems
dc.titleModelling the Xbox 360 Kinect for visual servo control applicationsen_ZA
dc.typeThesisen_ZA
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