Abstract:In this paper, we use Microsoft’s Kinect camera as an RGB-D sensor example, analyze the depth error source based on the time of flight(ToF) principle and the obtained depth data accuracy of different colors and materials. We conclude that the depth measurement error is linear with the square of the distance, as well as the quantitative rule of depth measurement accuracy under different color materials. Besides, we use high-precision light detection and ranging(LiDAR) data as reference to evaluate Kinect modeling accuracy through comparing absolute error and relative error of parameters between these two models, and improve the Hausdorff distance method to analyze the overall modeling accuracy. Finally, we show both qualitative and quantitative results relating to the actual accuracy of Kinect depth measurement and modeling and its application scope in close range photogrammetry and indoor modeling.
