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This paper presents a method to distinguish between obstacles and manipulator when they share the same workspace. Microsoft Kinect is used as a capturing device. A Kinect calibration method is explained. Furthermore, calibration between Kinect and the manipulator is addressed by iterative least-square method. 3D model of manipulator is generated using OpenGL library. Finally, the manipulator surface is deleted from the scene by intersection of data between the manipulator model and its corresponding point cloud.