Analysis of interference between multiple kinect sensors and a noise reduction method for mobile robots

作者：Limin Chen^*; Mingyu Chang; Shizhe Xu; Yin Liang

来源：Journal of Convergence Information Technology, 2012, 7(21): 27-35.

DOI：10.4156/jcit.vol7.issue21.4

• Approximate model
• Chaotic noise
• Disturbance
• Dynamic state
• Laser scanner
• MicroSoft
• Noise reduction methods
• Normal mean
• Robot navigation
• Static and dynamic
• Static state
• Three-dimensional sensor

Microsoft's Kinect sensor has been becoming an attractive alternative for expensive laser scanners in robot navigation. We firstly analyzed its depth measurement error in details and built an approximate model to describe the error. Further, normal mean square error (NMSE) and data-missing rate were used to evaluate the interference of multiple Kinects in static and dynamic state. Moreover, based on the results that interference in a dynamic state is smaller than that in the static state, a two-dimensional chaotic noise was introduced as a disturbance to the cloud platform of mobile robot. Experimental results show that the data-missing rate has significantly improved by 10dB or more when the interference area between multiple Kinects is above 80%.

• 出版日期2012