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실험 계획법에 기반한 키넥트 센서의 최적 깊이 캘리브레이션 방법
박재한(Jae-Han Park),배지훈(Ji-Hum Bae),백문홍(Moon-Hong Baeg) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.11
Depth calibration is a procedure for finding the conversion function that maps disparity data from a depth-sensing camera to actual distance information. In this paper, we present an optimal depth calibration method for Kinect<SUP>TM</SUP> sensors based on an experimental design and convex optimization. The proposed method, which utilizes multiple measurements from only two points, suggests a simplified calibration procedure. The confidence ellipsoids obtained from a series of simulations confirm that a simpler procedure produces a more reliable calibration function.