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Integrating the Microsoft Kinect With Simulink: Real-Time Object Tracking Example

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4 Author(s)
Fabian, J. ; Dept. of Mech. Eng., Villanova Univ., Villanova, PA, USA ; Young, T. ; Peyton Jones, J.C. ; Clayton, G.M.

The introduction of low-cost, relatively high-resolution 3-D sensing systems, like the Microsoft Kinect, has considerable potential in autonomous system applications. One of the impediments to wider Kinect application development is that the available Kinect drivers define C language interfaces. To help fully realize the Kinect's potential, the aims of this paper are 1) to develop a “VU-Kinect ” block which provides easy access to the sensor's camera and depth image streams, and which enables them to be incorporated seamlessly within a higher level, Simulink-based, image-processing and real-time control strategy; 2) to address implementation issues associated with the Kinect, such as sensor calibration; and 3) to show the utility of both the VU-Kinect block and the Kinect itself through a simple 3-D object tracking example.

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Mechatronics, IEEE/ASME Transactions on  (Volume:19 ,  Issue: 1 )