Microsoft Kinect Collision Detection

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Presentation transcript:

Microsoft Kinect Collision Detection Daniel Fischl 0825242 Manuel Hochmayr 0627715

Idea Collision detection of person in a room Applications: People with visual impairment Dark environments 30.11.2018 Fischl/ Hochmayr

Technologies Microsoft Kinect (for XBOX360) Visual Studio 2010 C++ Point Cloud Library 1.7 OpenNI VTK Qt 4.8.4 Eigen library boost 30.11.2018 Fischl/ Hochmayr

Planned approach 3D model Person tracking Alignments of current view with 3D model Object labeling Kinfu Person tracking Collision detection with objects Bounding boxes 30/11/2018 Fischl/ Hochmayr

Actual approach Room segmentation Person tracking Segmenting single point cloud Euclidian cluster extraction Convex hull Labeling Person tracking Live data from Kinect Collision detection with objects Bounding boxes Navigation 11/30/2018 Fischl/ Hochmayr

User Interface 11/30/2018 Fischl/ Hochmayr

Euclidian cluster extraction Octree data structure Nearest neighbour Similiar to flood-fill algroithm Planar objects Convex hull filtering Cluster size Tolerance 30/11/2018 Fischl/ Hochmayr

Labeling Select collidable objects Name objects 30/11/2018 Fischl/ Hochmayr

People tracking OpenNI Upper and lower body Bounding box Navigation Scalable size Intersection Navigation Sounds 30/11/2018 Fischl/ Hochmayr

Navigation 30/11/2018 Fischl/ Hochmayr

Video 30.11.2018 Fischl/ Hochmayr

Results Room segmentation > 5min Detecting person Good results (depending on Kinect) Only one viewpoint -> restriction Detecting person Takes a little bit too long (system dependent) Intersection and navigation Works in dark environments 30/11/2018 Fischl/ Hochmayr

Issues PCL 1.7 compilation Kinfu Stability problems Segmentation Colour based region growing Min – Cut based segmentation Change viewer Manual configuration 30/11/2018 Fischl/ Hochmayr

Improvements Voice output/ control Link different sounds to different objects More robust segmentation Multi -User tracking 30/11/2018 Fischl/ Hochmayr

Thank you for your attention! Questions?