Why would i want a gyroscope on my RGB-D sensor?

Many RGB-D sensors, e.g. the Microsoft Kinect, use rolling shutter cameras. Such cameras produce geometrically distorted images when the sensor is moving. To mitigate these rolling shutter distortions we propose a method that uses an attached gyroscope to rectify the depth scans. We also present a s...

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Bibliographic Details
Main Authors: Ovren, H., Forssen, P., Tornqvist, D.
Format: Conference Proceeding
Language:English
Subjects:
Angular velocity
calibration
Cameras
Gyroscopes
Kinect
Kinect Fusion
Optical imaging
Optical sensors
RGB-D sensor
rolling shutter
Synchronization
Three-dimensional displays
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Description
Summary:Many RGB-D sensors, e.g. the Microsoft Kinect, use rolling shutter cameras. Such cameras produce geometrically distorted images when the sensor is moving. To mitigate these rolling shutter distortions we propose a method that uses an attached gyroscope to rectify the depth scans. We also present a simple scheme to calibrate the relative pose and time synchronization between the gyro and a rolling shutter RGB-D sensor. We examine the effectiveness of our rectification scheme by coupling it with the the Kinect Fusion algorithm. By comparing Kinect Fusion models obtained from raw sensor scans and from rectified scans, we demonstrate improvement for three classes of sensor motion: panning motions causes slant distortions, and tilt motions cause vertically elongated or compressed objects. For wobble we also observe a loss of detail, compared to the reconstruction using rectified depth scans. As our method relies on gyroscope readings, the amount of computations required is negligible compared to the cost of running Kinect Fusion.
DOI:10.1109/WORV.2013.6521916