Experiment - Kinect V2

Original for XBOX  

• More affordable compared to LiDAR 
• Computer vision development communities (C++, C#)  
  

Structure  

• RGB camera 
• Depth camera 
• Infrared camera  
  

Experiment - Camera Calibration

Intrinsic matrix  

• From photo coordinate to camera coordinate 
• Differ slightly with different Devise

Extrinsic matrix   

• From camera coordinate to world coordinate 
• Define world coordinates
• Neglect shift

Mapping the relation with rotation  

• Rightward +x, Forward +y, Upward +z
• Roll(x)/Pitch(y)/Yaw(z) 
• Differ with rotation angle

Experiment - optimization

Temporal data  

• Time relationships between frames 
• Duplicate output / Wrong classification/ Falsely detected

(1) Non-maximum Suppression  

• Using Integration over Union(IoU) as threshold
• Eliminate same class duplication 
• Correct different class misclassification

(2)  Timeout measures

• Assure existence 
• Delete false misunderstood ones

Experiment - Other adaptations

Desk/Table merging   

• High similarity 
• Differ with furniture style Model misconstrue

Toilet/Bathtub deletion  

• Not used in presentation scenes