Probabilistic depth map fusion of Kinect and stereo in real-time

Yong Duan; Mingtao Pei; Yucheng Wang

doi:10.1109/ROBIO.2012.6491315

Probabilistic depth map fusion of Kinect and stereo in real-time

Yong Duan^*, Mingtao Pei, Yucheng Wang

^*Corresponding author for this work

School of Computer Science and Technology

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Citations (Scopus)

Abstract

This paper proposes a probabilistic framework for real-time depth map fusion of Kinect and stereo. By modeling the depth imaging process as a random experiment, we turn the depth map fusion into a problem of probability density function (pdf) estimation, and the problem can be further decoupled into four parts: fusion space, influence term, visibility term and confidence term. Strategies for each part of the framework are presented to perform real-time fusion of Kinect and stereo. Experimental results demonstrate the effectiveness of the method.

Original language	English
Title of host publication	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest
Pages	2317-2322
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2012.6491315
Publication status	Published - 2012
Event	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Guangzhou, China Duration: 11 Dec 2012 → 14 Dec 2012

Publication series

Name	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest

Conference

Conference	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012
Country/Territory	China
City	Guangzhou
Period	11/12/12 → 14/12/12

Access to Document

10.1109/ROBIO.2012.6491315

Cite this

Duan, Y., Pei, M., & Wang, Y. (2012). Probabilistic depth map fusion of Kinect and stereo in real-time. In 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest (pp. 2317-2322). Article 6491315 (2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest). https://doi.org/10.1109/ROBIO.2012.6491315

@inproceedings{ce67e9e96fa543e2948ce95ac05185a2,

title = "Probabilistic depth map fusion of Kinect and stereo in real-time",

abstract = "This paper proposes a probabilistic framework for real-time depth map fusion of Kinect and stereo. By modeling the depth imaging process as a random experiment, we turn the depth map fusion into a problem of probability density function (pdf) estimation, and the problem can be further decoupled into four parts: fusion space, influence term, visibility term and confidence term. Strategies for each part of the framework are presented to perform real-time fusion of Kinect and stereo. Experimental results demonstrate the effectiveness of the method.",

author = "Yong Duan and Mingtao Pei and Yucheng Wang",

year = "2012",

doi = "10.1109/ROBIO.2012.6491315",

language = "English",

isbn = "9781467321273",

series = "2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest",

pages = "2317--2322",

booktitle = "2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest",

note = "2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 ; Conference date: 11-12-2012 Through 14-12-2012",

}

Duan, Y, Pei, M & Wang, Y 2012, Probabilistic depth map fusion of Kinect and stereo in real-time. in 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest., 6491315, 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest, pp. 2317-2322, 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012, Guangzhou, China, 11/12/12. https://doi.org/10.1109/ROBIO.2012.6491315

Probabilistic depth map fusion of Kinect and stereo in real-time. / Duan, Yong; Pei, Mingtao; Wang, Yucheng.
2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest. 2012. p. 2317-2322 6491315 (2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Probabilistic depth map fusion of Kinect and stereo in real-time

AU - Duan, Yong

AU - Pei, Mingtao

AU - Wang, Yucheng

PY - 2012

Y1 - 2012

N2 - This paper proposes a probabilistic framework for real-time depth map fusion of Kinect and stereo. By modeling the depth imaging process as a random experiment, we turn the depth map fusion into a problem of probability density function (pdf) estimation, and the problem can be further decoupled into four parts: fusion space, influence term, visibility term and confidence term. Strategies for each part of the framework are presented to perform real-time fusion of Kinect and stereo. Experimental results demonstrate the effectiveness of the method.

AB - This paper proposes a probabilistic framework for real-time depth map fusion of Kinect and stereo. By modeling the depth imaging process as a random experiment, we turn the depth map fusion into a problem of probability density function (pdf) estimation, and the problem can be further decoupled into four parts: fusion space, influence term, visibility term and confidence term. Strategies for each part of the framework are presented to perform real-time fusion of Kinect and stereo. Experimental results demonstrate the effectiveness of the method.

UR - http://www.scopus.com/inward/record.url?scp=84876475617&partnerID=8YFLogxK

U2 - 10.1109/ROBIO.2012.6491315

DO - 10.1109/ROBIO.2012.6491315

M3 - Conference contribution

AN - SCOPUS:84876475617

SN - 9781467321273

T3 - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest

SP - 2317

EP - 2322

BT - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest

T2 - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012

Y2 - 11 December 2012 through 14 December 2012

ER -

Probabilistic depth map fusion of Kinect and stereo in real-time

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this