3D Reconstructions with KinFu Using Different RGBD Sensors

Abstract

RGBD sensors are widely used in robotics and computer vision. Since the Microsoft Kinect was launched, various other sensors, such as the Asus Xtion PRO LIVE and the Intel R200, have been developed. Among other applications, these sensors are useful for 3D reconstruction, which can be achieved with KinFu (an open-source implementation of KinectFusion). Reconstructions of objects and people are useful in multiple fields such as computer graphics and ergonomics. In this paper, we analyze if the 3D reconstructions generated by KinFu depend on the sensor used to record its input. The analysis comprehends qualitative and quantitative evaluations of reconstructions created from point clouds recorded with six well-known sensors. The results suggest that the reconstruction is sensor dependent and the selection of a determined sensor is conditioned to the requirements of each application.