Live 3D Point Cloud Stitching Demo Video for Kinect with MATLAB

Today I'll share the Kinect Live stitching demo Program as below.

By using GUI Program which I introduced in last post, we can acquire RGB stream, Depth stream and real-time 3D reconstructed stream.

Also, by moving the device, we can build the real-time 3D reconstruction stream, as following demo. In other words, 3D point cloud stitching process for Kinect data can be done in real-time.
Note that, 3D stitching time(Number of frames) is controllable.

Thanks for reading.
Will come back with more interesting topic next time:)

FYI, you can get above GUI program from below.
Download Live 3D Point cloud for Kinect Demo

Wanbin Song

Building Handy GUI program for Kinect with MATLAB

With simple GUI building skills, you can easily make handy program with MATLAB(R2015b). You can do :

• Visualize streaming Color and Depth image.

• Control depth mode(Default/Near) and elevation angle.

• Simultaneously align color with depth image.

• Live 3D Reconstruction with Point cloud stitching

The highlight thing in this demo is live 3D reconstruction. User can easily combine multiple point clouds to reconstruct a 3D scene using ICP(Iterative Closest Point) algorithm. It can be used in various application like develop 3D models of objects or build 3D world maps for SLAM(Simultaneous Localization And Mapping).

This is all for my recent work on Kinect. Any opinions to discuss are welcome.

Thanks for reading.

Wanbin Song

Kinect v2 Preview(3)

After a long absence, today, i'll discuss about imperfections of Kinect v2.

As i mentioned in last posting, due to the change in method of measuring depth, there exists several differences between Kinect v1's depth image with that of Kinect v2.

Usually, there were large amounts of holes in Kinect v1's depth image, including random holes and occlusions.

Left image of above figure shows depth image of Kinect v1. As you can see, occlusions and random holes(white) are very thick. Comparing to this image, right one is depth image of new version, which captures the same scene with Kinect v1's. And we can figure out that holes are mainly exists along the object boundaries, with the small amount. This is the first major difference between two depth image.

There is another noticeable difference between two. As in above right image, on the corner, there exists large blobs of random holes which disappears in Kinect v1's depth image. This is because intensity values of of returned infrared light are week. But these random holes exists corner area of depth image, not the region of interest.

So, Kinect v2's hole-filling problem is not an important issue, because the quality of depth image is improved significantly.

This is the conclusion of my recent work on Kinect v2's depth image. Any opinions of yours are welcome, and let us discuss about it.

Thanks,

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Song, Wanbin

M.S. Candidate

Laboratory of Digital Image Processing

Department of Electronic and Electrical Engineering

Dongguk Univ. Seoul, Korea

Homepage   : http://dip.dongguk.edu

E-mail        : wbsong@dongguk.edu
                   me.wbsong@gmail.com

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