Depth map characterization of RGB-D sensor for obstacle detection system

This paper presents a characterization of the depth map from an RGB-D sensor, Kinect 360, to be used as an input to an obstacle detection system. Since the accuracy, reliability and timeliness of the data are crucial in the system, there is a need to characterize it. Sensor repeatability tests are done to characterize the depth map. The mean and standard deviation of measured depths and mean error were computed to describe its detection accuracy and precision. Evident noises during tests were defined.