3. Depth Imaging Using Intel RealSense SR300 Camera

• Depth Sensing is carried out commonly with the help of IR projector and the IR camera. The principle behind the depth sensing can be summarized as follows:
  • The IR projectors shoots the irregular pattern of dots of IR wavelength over the space. The Projector has a Diffractive optical element which forms irregular patterns of dot.
  • The IR camera capable of recording the infrared light. The infrared light falling on the objects bounces back with different intensities, which is captured by the IR camera.
  • Finally the image captured by the IR camera and the irregular pattern of dots that was initially projected is compared to find the depth.
• The Commonly used cameras are RGB-D cameras which capture the RGB images along with the per pixel depth information.

Implementation

We propose the use of Intel RealSense SR300 camera for depth sensing. Installing RealSense Library on Jetson TX2

Literature Survey

Depth sensing technology is currently used in widespread applications like 3D indoor mapping, Augmented Reality, Medical imaging and object detection. [1] talks about basic RGBD mapping for an indoor environment while [2] talks about the the real time human detection in the dynamically cluttered environment. [3] suggests pose detection using the depth sensors.

• [1]Peter Henry, Micheal Krainin, Evan Herbst, Xiaofeng Ren, Dieter Fox, “ RGB-D mapping : Using Kinect- style depth cameras for dense #D modelling of indoor environments”.
• [2] Jingwen Zhao, Guyue Zhang, Luchao Tian, Yan Qiu Chen, “REAL-TIME HUMAN DETECTION WITH DEPTH CAMERA VIA A PHYSICAL RADIUS-DEPTH DETECTOR AND A CNN DESCRIPTOR”
• [3] Noel S. Kropf, Mattias Marder, Charles F Wiecha, “Pose detection using depth camera”.