KINECT

Vinayak Thapliyal and Noah Balsmeyer

1
Overview
What is the Kinect?
Why was it made?
How does it work?
How does it compare to other sensors?
How can we use it?
2
http://cdn.leviathyn.com/wp-content/uploads/2012/04/kinect_360.jpg
What is the Kinect?
Input Device
Gesture Recognition
Facial Recognition
Voice Recognition

Programmable
C++
C#
Visual Basic .NET
http://www.ehomeupgrade.com/wp-content/uploads/xbox_360_kinect_diagram.jpg
3
What is the Kinect?
Gesture and Facial Recognition
RGB Camera
Depth Sensor
Infrared Laser Projector
Monochrome CMOS Sensor

Voice Recognition
Multi-Array Microphone



http://upload.wikimedia.org/wikipedia/commons/9/90/
Kinect2-deepmap.png
http://upload.wikimedia.org/wikipedia/commons/7/76
/Kinect2-ir-image.png
4
Why was the Kinect made?
Make UI More Intuitive to Human Motion

Release a Competitor to Nintendo Wii

Led to More Affordable 3D Imaging and Motion
Detection
5
How Does it Work?
Infrared Projection
Dot Pattern
Motion Detection
30 Hz Output from CMOS Sensor
40 Tracking Points
20 joints per player
Depth Mapping
Object Triangulation
Device Reaction
6
http://blogs.microsoft.co.il/blogs/shair/im
age_thumb_6F4828EC.png
http://api.ning.com/files/46-6*7H3sr0HeW9nwDwZoG5vvjKRIu26Kvy4VhyytnE1DTUjsfQ5OZFQ5g8LFS-
Il5DwjPVHn5NMQl*Ugoh8CpXN-W9b82XW/PrimeSensorDepth_Diagram.gif
http://home.comcast.net/~sowndwayv/cablebuild_large.PNG http://img51.imageshack.us/img51/8168/pinout21.png
Kinect Pin Layout
7
Modified USB Connector for More Power
Motorized Tilt Mechanism
RGB Camera, IR Projector, and CMOS Sensor
Internal Components
Depth Sensor
Field of View
57 Degree Horizontal, 43 Vertical
Movable by additional 27 Degrees Up or Down
IR Projector
Received by Monochrome CMOS Sensor
Video Output
9 30 Hz
640 x 480px
Additional Processing
IR Filter at Projector Wavelength
8
Depth Sensor
IR Projector emits
predefined Dotted Pattern

Lateral Shift between
projector and sensor
Shift in pattern dots

Shift in Dots determines
Depth of Region
9
http://www.futurepicture.org/?p=116
Kinect Accuracy
OpenKinect SDK
11 Bit Accuracy
2
11
= 2048 possible values
Measured Depth
Calculated 11 bit value
2047 = maximum distance
Approx. 16.5 ft.
0 = minimum distance
Approx. 1.65 ft.
Reasonable Range
4 10 feet
Provides Moderate Slope
10
Values from: http://mathnathan.com/2011/02/depthvsdistance/
Kinect Accuracy
OpenKinect SDK
11 Bit Accuracy
2
11
= 2048 possible values
Measured Depth
Calculated 11 bit value
2047 = maximum distance
Approx. 16.5 ft.
0 = minimum distance
Approx. 1.65 ft.
Reasonable Range
4 10 feet
Provides Moderate Slope
11
Values from: http://mathnathan.com/2011/02/depthvsdistance/
How Does the Kinect Compare?
Distance Sensing
Alternatives Cheaper than Kinect
~$2 Single-Point Close-Range Proximity Sensor

Motion Sensing and 3D Mapping
High Performing Devices with Higher Cost

12
http://media.digikey.com/Photos/AMS-
Taos%20USA%20Photos/TSL2771xFN
_sml.jpg
http://gemini3dcamera.com/Home_files/smGemni%26Fin
derDSDa_5070.jpg
Good Performance for Distance and Motion Sensing

Provides a bridge between low cost and high performance
sensors
How Can We Use the Kinect?
Kinect Software Development Kit (SDK)
Free Download available for Windows 7 and 8
Http://www.microsoft.com/en-
us/kinectforwindows/develop/overview.aspx

Must have Windows OS Capable Processor
Very well documented and great online community
support
Other SDKs, including OpenKinect, have been ported to
Linux and Mac
13
How Can We Use the Kinect?
14
How Can We Use the Kinect?
3D Room Mapping








http://www.blogcdn.com/www.engadget.com/media/2011/03/3-31-11-kinect-slam.jpg
15
How Can We Use the Kinect?
Hand Signals and Motion Recognition
http://www.popsci.com/files/imagecache/article_image_large/articles/Picture%202_54.png
16
How Can We Use the Kinect?
Object Tracking
http://geektech.ie/wp-content/uploads/2011/04/eye-
object-tracking.jpg
http://hackadaycom.files.wordpress.com/2011/04/tld_obje
ct_tracking.jpg?w=470&h=313
17
How Can We Use the Kinect?
Wide Range of Applications

Possibly for your EECS 373 Project!
18
Questions?
19
References
http://openkinect.org/wiki/Hardware_info
http://www.jameco.com/Jameco/workshop/howitworks/xboxkinect.html
http://mirror2image.wordpress.com/2010/11/30/how-kinect-works-
stereo-triangulation/
http://openkinect.org/wiki/Main_Page
http://mathnathan.com/2011/02/depthvsdistance/
http://www.ros.org/wiki/openni_kinect/kinect_accuracy
http://eng.au.dk/fileadmin/DJF/ENG/PDF-
filer/Tekniske_rapporter/Technical_Report_ECE-TR-6-samlet.pdf
http://social.msdn.microsoft.com/Forums/en-
US/kinectsdknuiapi/thread/4da8c75e-9aad-4dc3-bd83-d77ab4cd2f82

20