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LiveScan3D: A Fast and Inexpensive 3D Data Acquisition System for Multiple
Kinect v2 SensorsMarek Kowalski, Jacek Naruniec, Michał Daniluk
Warsaw University of Technology
Introduction
We propose a method for real time 3D acquisition using multiple Kinect v2 sensors. As opposed to methods that use a single sensor, such as [1], we are able to record dynamic scenes from multiple viewpoints simultaneously.
Our open source1 system allows using any number of sensors in any physical configuration. For example an inward facing configuration that can be used to capture an entire object, or an outward facing configuration which allows capturing 3D „panoramic” views.
While similar systems [2] have been proposed for Kinect v1, to the best of our knowledge, none have been proposed for Kinect v2.
System description
Since only one Kinect v2 can be connected to a single machine, we use one computer for each sensor. Each computer runs a client application that is connected to a server which governs all of the sensors. The server allows the user to perform cali-bration, filtering, synchronized frame capture, and to visualize the acquired point cloud live.
The fusion of data from multiple Kinects is only possible if the poses of all the devices are known. The poses are estimated in a two step calibration procedure. The first step performs rough estimation using visual markers. The second step uses Iterative Closest Points to refine the resulting poses.
Experimental results
We show results of three experiments, two using the inward configuration and one using the outward configuration. Both configurations are shown in Figure 1. The recording speed for all experiments was 25 fps.
Figure 2 shows a point cloud captured using three devices in an outward facing configuration. Notice that parts of the wall merged from two different point clouds intersect, which shows good alignment.
Figures 3 and 4 show frames from dynamic sequences re-corded with LiveScan3D using four Kinect v2 sensors. Notice that while some parts of the objects are blurry due to motion, their shape is recorded correctly. This proves good synchroni-zation of frame capture between the devices.
Bibliography
[1] S. Izadi et al. Kinectfusion: Real-time 3d reconstruction and interac-tion using a moving depth camera. ACM Symposiumon User Interface Software and Technology, October 2011.[2] J. Tong, et al. Scanning 3d full human bodies using kinects. Visuali-zation and Computer Graphics, IEEE Transactions on, 18(4):643–650, April 2012.
Figure 3 – Three frames of a sequence showing a person playing guitar, one view on the top and one on the bottom.
Figure 4 – A dynamic sequence showing a ball bouncing off a wooden cabinet. First image shows all of the frames of the sequence shown together. Second image shows
one chosen frame from a different perspective.
Figure 2 – A 3D point cloud showing a room captured from three Kinects simultane-ously. Notice that the corner section of the wall shows colors from two different scans,
this indicates that the scans were merged correctly.
1 – available on http://ztv.ire.pw.edu.pl/mkowalski/ Contact: [email protected]
Figure 1 – The inward and outward sensor configurations we have used for our experi-ments. The first one allows capturing a scene from all sides simultaneously, while the
second one allows capturing a scene at a wide angle.
