1. 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

2. 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

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

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

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

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

7. 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.

8. Using MS Excel to Manipulate DataNW

9. 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

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

11. 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

12. 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
0.175
2.002
0.186
2.147 2
2.138
0.21
0.188
2.021
0.19
2.157
2.011
2.15
R2 value for X
R2 value for Y
R2 value for Z
0.9976
0.9951
0.9653 RC

13. Kinect Box Volume Standard Deviation CurveRC

14. 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

15. 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

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

17. 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: