depth sensors - uni-hamburg.de · savitha ws 2014nagaraju -15 intelligent robotics seminar 2 ....
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Depth Sensors
WS 2014-15 Intelligent Robotics Seminar
by Savitha Nagaraju
1
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Contents
Why Depth Sensors?
Techniques in Depth Sensors
Types Of Depth Sensors
Application Of Kinect Depth Sensors
Summary
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 2
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Contents
Why Depth Sensors?
Techniques in Depth Sensors
Types Of Depth Sensors
Application Of Kinect Depth Sensors
Summary
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 3
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Why Depth Sensors?
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 4
RGB Camera
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Why Depth Sensors?
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 5
RGB Camera
RGB Camera
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Why Depth Sensors?
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 6
RGB Camera
RGB Camera
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Why Depth Sensors?
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 7
RGB Camera
RGB Camera
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Why Depth Sensors?
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 8
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Why Depth Sensors?
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 9
RGB Camera
Depth Camera
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Why Depth Sensors?
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 10
Speckle patterns
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Why Depth Sensors?
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 11
Source : http://learning.codasign.com/index.php?title=Drawing_Depth_with_the_Kinect
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Contents
Why Depth Sensors?
Techniques in Depth Sensors
Types Of Depth Sensors
Application Of Depth Sensors
Summary
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 12
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Techniques in Depth Sensors
Stereo Triangulation
Time Of Flight
Coded Aperture
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 13
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Techniques in Depth Sensors
Stereo Triangulation
Savitha Nagaraju 14
WS 2014-15 Intelligent Robotics Seminar
Source:https://courses.cs.washington.edu/courses/cse455/09wi/Lects/lect16.pdf
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Techniques in Depth Sensors
Time Of Flight
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 15
Source :http://www.ti.com/lit/wp/sloa190b/sloa190b.pdf
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Techniques in Depth Sensors
Coded Aperture
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 16
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Techniques in Depth Sensors
Coded Aperture
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 17
Source:Image and Depth from a Conventional Camera with a Coded Aperture Anat Levin, Rob Fergus, Fredo Durand, Bill Freeman appeared in SIGGRAPH 2007
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Techniques in Depth Sensors
Coded Aperture
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 18
Source:Image and Depth from a Conventional Camera with a Coded Aperture Anat Levin, Rob Fergus, Fredo Durand, Bill Freeman appeared in SIGGRAPH 2007
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Contents
Why Depth Sensors?
Techniques in Depth Sensors
Types Of Depth Sensors
Application Of Kinect Depth Sensors
Summary
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 19
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Types Of Depth Sensors
Intel Perceptual Computing
Leap Motion
Microsoft Kinect
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 20
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Types Of Depth Sensors
Intel Perceptual Computing
•Smaller and less expensive
•Close range tracking
•Hand posture
•Facial analysis
•Speech
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 21
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Types Of Depth Sensors
Leap Motion
•Finger tracking is fast and accurate
•Smaller and less expensive
•Compatible with Mac OS and Windows
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 22
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Types Of Depth Sensors
Microsoft Kinect
•Most popular among the depth sensors
•It can track 20 joints in human skeleton
•Upto 6 people can be detected and 2 skeletons
can be tracked
•Kinect for windows have near mode which
can track skeleton in sitting position
•Current version is v2.0
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 23
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Contents
Why Depth Sensors?
Techniques in Depth Sensors
Types Of Depth Sensors
Application Of Kinect Depth Sensors
Summary
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 24
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Application Of Kinect Depth Sensors
Object detection and tracking
Pose Estimation
Hand Gesture Analysis
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 25
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Application Of Kinect Depth Sensors
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 26
Source:Enhanced Computer Vision with Microsoft Kinect Sensor: A Review Jungong Han, Member, IEEE, Ling Shao, Senior Member, IEEE, Dong Xu, Member, IEEE, and Jamie Shotton, Member, IEEE
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Application Of Kinect Depth Sensors
Pose Estimation
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 27
Source:Enhanced Computer Vision with Microsoft Kinect Sensor: A Review Jungong Han, Member, IEEE, Ling Shao, Senior Member, IEEE, Dong Xu, Member, IEEE, and Jamie Shotton, Member, IEEE
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Application Of Kinect Depth Sensors
Hand Gesture Recognition
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 28
Source:Enhanced Computer Vision with Microsoft Kinect Sensor: A Review Jungong Han, Member, IEEE, Ling Shao, Senior Member, IEEE, Dong Xu, Member, IEEE, and Jamie Shotton, Member, IEEE
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Contents
Why Depth Sensors?
Techniques in Depth Sensors
Types Of Depth Sensors
Application Of Kinect Depth Sensors
Summary
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 29
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Summary
•Principle used in Depth Sensors
•Stereo Triangulation, Time of flight, Coded Aperture
•Intel Perceptual Computing, Leap Motion, Microsoft Kinect
•Applications
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 30
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Questions?
Savitha Nagaraju WS 2014-15 Intelligent Robotics Seminar 31