drexel_darwin_kinect
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drexel_darwin_kinect [2016/11/01 15:10] – created dwallace | drexel_darwin_kinect [2016/11/06 19:47] (current) – dwallace | ||
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====== Kinects in Open Sunlight ====== | ====== Kinects in Open Sunlight ====== | ||
- | ===Motivation=== | + | ===== Motivation ===== |
Using RGBDSlam approach for DARPA ROBOTICS CHALLENGE (DRC) in June 2012 for navigation may give more accurate readings for navigation. | Using RGBDSlam approach for DARPA ROBOTICS CHALLENGE (DRC) in June 2012 for navigation may give more accurate readings for navigation. | ||
- | ===How does Kinect work=== | + | ===== How does Kinect work ===== |
Based on this video, the Kinect IR (Infrared) emitter emits the IR rays and the receiver takes in these values. | Based on this video, the Kinect IR (Infrared) emitter emits the IR rays and the receiver takes in these values. | ||
- | {{#ev:youtube|CIkscN6nXcE}} | + | {{youtube>CIkscN6nXcE?large}}\\ |
- | Based on this website[http:// | + | Based on [[http:// |
- | The picture below, taken from this website[http:// | + | The picture below, taken from [[http:// |
- | [[File:Solar_Spectrum.png|400px]] | + | {{dylanw:solar_spectrum.png}}\\ |
Thus the camera cannot work like it should in direct sun light as there are IR rays in the sun that may be going to interfere with | Thus the camera cannot work like it should in direct sun light as there are IR rays in the sun that may be going to interfere with | ||
the IR rays to be read by the sensor. | the IR rays to be read by the sensor. | ||
- | ===Using luxmeter as base for comparison=== | + | ===== Using luxmeter as base for comparison ===== |
- | According to this website[http:// | + | |
- | ===Experiment under sunlight=== | + | According to [[http://www.wisegeek.org/what-is-a-lux-meter.htm|this website]], a lux meter works by using a photo cell to capture light. The meter then converts this light to an electrical current, and measuring this current allows the device to calculate |
- | Using rgbdslam[www.ros.org/wiki/ | + | |
- | {{#ev:youtube|9q-4LgKj0v0}} | + | ===== Experiment under sunlight ===== |
+ | |||
+ | Using [[http:// | ||
+ | |||
+ | {{youtube>9q-4LgKj0v0?large}}\\ | ||
However, when the Kinect transits to the shaded area, the depth image starts to register and the mapping can proceed. | However, when the Kinect transits to the shaded area, the depth image starts to register and the mapping can proceed. | ||
The video below shows a scene taken on a cloudy day of 15000 lux. Something to note is that the camera is stationary but there is constant mapping and re-mapping. The reason is because different depth images are being registered. The are different due to the interference of the IR rays in the sun that have the same wavelength as the IR rays that the Kinect uses. | The video below shows a scene taken on a cloudy day of 15000 lux. Something to note is that the camera is stationary but there is constant mapping and re-mapping. The reason is because different depth images are being registered. The are different due to the interference of the IR rays in the sun that have the same wavelength as the IR rays that the Kinect uses. | ||
- | {{#ev:youtube|EJQG6bKgSuE}} | + | |
+ | {{youtube>EJQG6bKgSuE?large}}\\ | ||
Hence the fact that the Kinect does not work outdoors is not a matter of high lux value in the environment but due to the presence of the IR rays in the sunlight. | Hence the fact that the Kinect does not work outdoors is not a matter of high lux value in the environment but due to the presence of the IR rays in the sunlight. |
drexel_darwin_kinect.1478038252.txt.gz · Last modified: 2016/11/01 15:10 by dwallace