ROS Programming: Building Powerful Robots

Using the Kinect sensor to view objects in 3D

The Kinect sensor is a flat, black box that sits on a small platform when placed on a table or shelf near the television you're using with your Xbox 360. This device has the following three sensors that we can use for vision and robotics tasks:

• A color VGA video camera to see the world in color
• A depth sensor, which is an infrared projector and a monochrome CMOS sensor working together, to see objects in 3D
• A multiarray microphone that is used to isolate the voices of the players from the noise in the room.

Kinect

In ROS, we are going to use two of these sensors: the RGB camera and the depth ...