Development of an Object Recognition and Location System Using the Microsoft Kinect™ Sensor

摘要

This paper presents the development of an object recognition and location system using the Microsoft Kinect™, an off-the-shelf sensor for videogames console Microsoft Xbox 360™ which is formed by a color camera and depth sensor. This sensor is capable of capturing color images and depth information from a scene. This vision system uses a) data fusion of both color camera and depth sensor to segment objects by distance; b) scale-invariant features to characterize and recognize objects; and c) camera's internal parameters combined with depth information to locate objects relative to the camera point of view. The system will be used along with a robotic arm to grab objects.