Robot Operating System Cookbook

Working with the Kinect sensor to view objects in 3D

The innovative technology behind Kinect is a combination of hardware and software contained within the Kinect sensor accessory that can be added to any existing Xbox 360 or computer system. There are three hardware innovations working together within the Kinect sensor:

• Color VGA video camera: This video camera aids in facial recognition and other detection features by detecting three color components—red, green, and blue, which is also known as the "RGB camera".
• Depth sensor: An infrared projector and a monochrome CMOS sensor work together to "see" the indoor environment in 3D, regardless of the lighting conditions.
• Multi-array microphone: This is an array of four microphones that can ...