[robotics-worldwide] [software] The Kinect v2 just got better

Per-Erik Forssén perfo at isy.liu.se
Wed Nov 23 06:08:10 PST 2016


We would like to announce the availability of an upgraded driver for the Kinect v2 time-of-flight depth sensor. The driver upgrade is based on the ECCV 2016 paper
"Efficient Multi-Frequency Phase Unwrapping using Kernel Density Estimation", by Felix Järemo Lawin, Per-Erik Forssén, and Hannes Ovrén.

Advantages compared to the current drivers from Microsoft and libfreenect2:
1. The depth range can be extended to 18.75 meters, without introducing excessive amounts of noise.
2. Performance outdoors is improved, with a higher count of valid pixels for the same input.

The new driver is implemented in OpenCL, CUDA and C++, and has nearly the same GPU computational performance as the original drivers. The algorithm from the ECCV paper is available from research project's dataset page:
https://urldefense.proofpoint.com/v2/url?u=http-3A__www.cvl.isy.liu.se_research_datasets_kinect2-2Ddataset_&d=DgIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=yNK2l8Lfb877VUgjdBhcCYDJdZPRjvX2sEJESy6T7DU&s=agloefnZ41PEocCBCOmrzGKfN_0BJ_CQJD4Wu9OCgXU&e= 
Here we have also provided a dataset and benchmark code to encourage further improvement of the driver.

As the new driver is integrated in libfreenect2 you can also access it from the libfreenect2 GIT repository:
https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_OpenKinect_libfreenect2&d=DgIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=yNK2l8Lfb877VUgjdBhcCYDJdZPRjvX2sEJESy6T7DU&s=np3dTMo-PaspkMupzXDm3K2e9UN2dEfjOKW538Oo9yU&e= 

We hope you enjoy this

Feedback and comments are welcome,
Felix Järemo Lawin (felix.jaremo-lawin at liu.se), Per-Erik Forssén and Hannes Ovrén
Linköping University, Sweden

-- 
Per-Erik Forssén                         | Docent and Associate Professor
Computer Vision Lab                  | https://urldefense.proofpoint.com/v2/url?u=http-3A__users.isy.liu.se_cvl_perfo_&d=DgIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=yNK2l8Lfb877VUgjdBhcCYDJdZPRjvX2sEJESy6T7DU&s=4_pkYCXf1eeKrpZUvpE3VDVufzJunEUNW1jZu0nyAyc&e= 
Dept of Electrical Engineering    | email: perfo at isy.liu.se <mailto:perfo at isy.liu.se>
SE-581 83 Linköping                  | phone: +46 (13) 28 5654
Sweden                                       | skype: per-erik_forssen



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