Perspectives of RealSense and ZED Depth Sensors for Robotic Vision Applications

摘要

This review paper presents an overview of depth cameras. Our goal is to describe the features and capabilities of the introduced depth sensors in order to determine their possibilities in robotic applications, focusing on objects that might appear in applications with high accuracy requirements. A series of experiments was conducted, and various depth measuring conditions were examined in order to compare the measurement results of all the depth cameras. Based on the results, all the examined depth sensors were appropriate for applications where obstacle avoidance and robot spatial orientation were required in coexistence with image vision algorithms. In robotic vision applications where high accuracy and precision were obligatory, the ZED depth sensors achieved better measurement results.