Localization of objects using the MS Windows Kinect 3D optical device with utilization of the depth image technology

Abstract

The paper deals with the problem of object recognition for the needs of mobile robotic systems (MRS). The emphasis was placed on the segmentation of an in-depth image and noise filtration. MS Kinect was used to evaluate the potential of object location taking advantage of the in-depth image. This tool, being an affordable alternative to expensive devices based on 3D laser scanning, was deployed in series of experiments focused on object location in its field of vision. In our case, balls with fixed diameter were used as objects for 3D location.