Plotting 3D Coordinates Using Microsoft Kinect Rebecca Cooper and Nick Westveer Department of Computer Science Appalachian State University National Science Foundation Research Experience for Teachers RC – Title, Name, School NW-Name School

Introduction Microsoft created a device for gaming purposes called the Kinect. Since its development new purposes have been found for the Kinect Sensor. The focus of this research was to use the Kinect Sensor bar with a software program to measure the Cartesian coordinates of an object so as to one day be able to reproduce objects electronically. NW- Whole slide-Kinect/Prupose

Kinect For Windows Our research used the IR Sensors to collect data. NW- Our research used the IR Sensors to collect data.

SkeletonBasics - WPF RC - Interface and data collection program used during research.

X Range For Kinect RC The viewing range for the Kinect IR Sensor

Cartesian Coordinates Using 1 skeleton point, we took the coordinates of the right hand to measure rectangular prisms (Boxes). RC

Data Collection Techniques Labeled Corner Points gave order to collection of data Measured Distance to Box Data collection tools for keeping hand placement consistent NW- Labeled (Rectangular Prism) Set distance in Room Measuring devices- Skeleton point for hand at the base of ring finger. We had issues measuring with just hands and fingers, so we used other devices to elevate and stabalize our hands. The wooden dowel rod worked best.

Using MS Excel to Manipulate Data NW

We collected the HandRight data for each snapshot. Example of the raw data. 20 Skeleton points We collected the HandRight data for each snapshot. NW

Cartesian Coordinates The collected data for each corner of the box. NW

Calculated Side Lengths, Volumes, and % Error. Calculated Length, Width and Height Average for the 4 sides % Error compared to measured Calculated volumes % Error comparing known volume to experimental volume NW

Comparison of XYZ Coordinates at 2m R² Value at 2 meters Comparison of XYZ Coordinates at 2m X from Kinect Actual X Y from Kinect Actual Y Z from Kinect Actual Z -0.03761 0.170134 0.175 2.028115 2.002 -0.03408 0.172685 0.186 2.171083 2.147 -0.02334 -0.00711 2.010822 2 -0.02257 0.000754 2.153872 2.138 0.185914 0.21 0.178663 0.188 2.010463 2.021 0.188375 0.179755 0.19 2.153027 2.157 0.196345 0.009353 2.002436 2.011 0.189977 0.013758 2.149777 2.15 R2 value for X R2 value for Y R2 value for Z 0.9976 0.9951 0.9653 RC

Kinect Box Volume Standard Deviation Curve RC

Conclusions The Kinect for Windows with the SkeletonBasics-WPF program was able to generate data points for rectangular prism objects. Those coordinates were used to calculate the volume of 3 objects and compare the volumes to measured volumes. RC

Conclusions Kinect Experimental Volumes vs. Measured Values. Kinect Box 1 Box 2 Box 3 Kinect 4766cm3 6677cm3 10013cm3 Measured 4951cm3 6732cm3 9798cm3 % Error 3.7% -0.82% 2.2% RC

ACKNOWLEDGEMENTS National Science Foundation Computer Science Department Appalachian State University Dr. Rahman Tashakkori Dr. R. Mitchell Parry Luke Rice Bahar Akhtar NW/RC

References REFERENCES [1] Using Kinect for Windows with XNA, 1.1ed., University of Hull, United Kingdom,2012, pp. 6-9. [2] Henry,Peter et.al, “RGB-D Mapping: Using Depth Cameras for Dense 3D Modeling of Indoor Environments,” University of Washington, Department of Computer Science & Engineering, Seattle, WA, 2012 [3] Microsoft Corporation. (2013, July 10). Kinect Sensor [Online].Available: http://www.ieee.org/documents/ieeecitationref.pdf