Overview
The aim of the project was to develop a markerless tracking system using multiple kinects, this work is the following of the previous project 'MarkerLess Motion Tracking' where rgb cameras were replaced with kinects.
Description
The space is tesselated into cells forming a 3D occupancy grid. Cloud points for each kinect is used to update the occupancy for each cell in the grid...Performed Tasks
- Kinects are calibrated with respect to ground in order to merge the cloud points for each one.
- A 3D reconstruction of the scene is performed using the kinects rgb/depth images.
- A 3D occupancy grid is constructed and the occupancy for each cell is updated for each kinect.
- Because the occupancy for each cell can be updated independently, the grid was maintained and updated on GPU using OpenGL pixel shader stage.
- The grid is then projected to ground and an HMM is used to classify each cell as not occupied or occupied by moving or fixed object...