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Miklas & Marjolein

Zsolt

Introduction Kinect? SA3D-scanner You want to try at home?

Introduction Kinect?
What is it? Possibilities

SA3D-scanner You want to try at home?

What is Kinect?
How do normal people see it. How do IT people see it.

Capabilities
Natural User Interface
Color, depth, skeleton, player index

Audio API

System Requirements

The Idea of 3D scanning Getting a point cloud Coloring the point cloud Registering point clouds Creating a 3D model Why is the Kinect the best method to scan in 3D?

Kinect is a motion sensing input device by Microsoft for the Xbox 360 game console. Its a new generation game controller like Wii Remote Plus or Playstation Move. Enables users to controll and interact with the Xbox 360 using gestures and spoken commands.

Kinect is a physical device that contains cameras and microphone array.

RGB Camera

Multi-array microphones

three-axis acceleromet er 3D Depth Sensors Motorized tilt

Viewing angle: 43 vertical by 57 horizontal field of view. Mechanized tilt range (vertical) +/- 27.

Resolution: VGA (640x480) Frame rate: 30 frames per second RGB or YUV color

The Kinect uses a USB connection to pass data, and that connection provides a limited amount of bandwidth.

IR light source CMOS IR sensor Each pixel contains the Cartesian distance (in millimeters) from the camera plane to the nearest object at that particular x and y coordinate. Pixel value 0 means that no object found. Does not work properly on reflecting surfaces. 640x480, 320x240, 80x60

Audio format: 16-kHz, 16-bit mono pulse code modulation 24 bit analog-to-digital converter An array of four microphones arranged in an L-shaped pattern.
Improved audio quality
Noise suppression Acoustic echo cancellation

Beamforming and source localization

The Kinect can indentify up to six human figures and create a player segmentation map. The player data comes in the depth stream. Up to two players, the Kinect can return a complete skeletal information.

Hardware requirements:
Computer with the following capabilities:
32-bit (x86) or 64-bit (x64) processors Dual-core, 2.66-GHz or faster processor USB 2.0 bus dedicated to the Kinect Sensor 2 GB of RAM Graphics card that supports DirectX 9.0c

A Kinect Sensor

Software Requirements
Supported operating systems:
Windows 7 Windows Embedded Standard 7

MS Visual studio 2010 Kinect SDK

Other third party SDK-s or development systems could also be used (for example: OpenNI)

3D Scanning with the Kinect

The goal is to create a colorfull 3D model of the reality. Later this modell can be used in
Entertaining softwares (computer games) Industrial applications

With the Kinects depth stream, you can get the distance of each pixel from the camerass plane. With the Kinect SDK, its possibily to convert this data to actual XYZ points. The resolution is 320x240. The depth sensor is IR, it volt work on
too close or too far objects. glass or reflecting surface. direct sunlight.

We can get the colors for each pixel from the color stream. The SDK is capable of matching the color and the depth stream, even if they are not at the same resolution. Once we get the color data, we can color each point in our point cloud.

With the use of PCL (Point cloud library) we should be able to register point clouds This way, we could put together scans taken from different directions and aim for a full 3D scan. This feature has not been made yet.

There are numerus ways to create a 3D model from a point cloud. Our goal is to scan the object and save it. Since almost every 3D modelling program can handle point clouds, we save our scan that way.

Its not. Other industrual 3D scanners may work with better resolution, less nosie and all in all, better performance. The Kinect is easy to use, cheap and therefore available for everyone.

Introduction Kinect? SA3D-scanner

What and how? Demo Whats next?

You want to try at home?

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SA3D-scanner
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Kinect (xbox.com) OpenGL (OpenGL.org)

MeshLab (meshlab.sourceforge.net)
PointCloudLibrary (pointclouds.org)

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Whats next?

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Printing stuff Use in games Use in simulators Use in architecture applications

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NextEngine 3D Scanner (NextEngine) Hardware 2 995

Super Awesome 3D Scanner Kinect 99,99

Software 995-2 995

Closed source Kinect Fusion (Youtube) Supercomputer

Software Free
Open source Super Awesome 3D Scanner Regular laptop

In development
Professionals German Research Center for AI (Youtube) Not available

In development
Students Super Awesome 3D Scanner Available when its done

Goal: The goal of this project is to create models of real world in

frequently used data formats for low budget level applications & education.

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User input on events, webbrowsing, powerpoint, windows Games Medical sector Other 3D-scanners Coding 4 Fun Example base

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Introduction Kinect? SA3D-scanner You want to try at home?

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XBox 360 Price Licence Distance 100 Home Use 1,8 meters recommended

Windows 200 Commercial Up to 40/50 cm

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Create your own

Basic (no overhead)

Use existing one

(List of game engines on Wikipedia)

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Mostly outdated or in development (new SDK)

FAAST: Skeleton tracking (obsolete by new SDK) OpenKinect: Kinect on Mac/Linux OpenNI: Created for Asus Xtion but compatible with Kinect.

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Kinectforwindows.org SDK, resellers Msdn.microsoft.com NUI documentation channel9.msdn.com/coding4fun/kinect/ Demos, howtos & examples Amazon.com (& other stores): books (Oudated with new SDK?) And of course:

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