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This paper presents a passive-marker-based optical tracking system utilizing dual Kinect sensors and additional custom optical tracking components. To obtain sub-millimeter tracking accuracy, we introduce robust calibration of dual infrared sensors and point correspondence establishment in a stereo configuration. The 3D localization is subsequently accomplished using multiple back projection lines...
In this paper, we develop an online real-time system using Kinect and inertial measurement unit (IMU) to recognize and measure stairs for stair climbing tasks of erect mobile robots. This system combines the ideas of statistical characteristics of 3D point cloud data and adjustable geometric models for stair recognition tasks. Through this system, we not only verify the advantages of statistics methods...
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