スマホRGBと深度カメラをサブミリ秒精度で同期するオープンソース録画システム
SmartDepthSync: Open Source Synchronized Video Recording System of Smartphone RGB and Depth Camera Range Image Frames with Sub-millisecond Precision
スマートフォンのRGB・慣性データと外部深度カメラのフレームをサブミリ秒精度で相互同期して録画するハード・ソフト構成を提案し、同期性能評価手法とオープンソース化したツールを提供する。
著者: Marsel Faizullin, Anastasiia Kornilova, Azat Akhmetyanov, Konstantin Pakulev, Andrey Sadkov, Gonzalo Ferrer
分類: cs.CV, cs.RO
原文アブストラクト
Nowadays, smartphones can produce a synchronized (synced) stream of high-quality data, including RGB images, inertial measurements, and other data. Therefore, smartphones are becoming appealing sensor systems in the robotics community. Unfortunately, there is still the need for external supporting sensing hardware, such as a depth camera precisely synced with the smartphone sensors. In this paper, we propose a hardware-software recording system that presents a heterogeneous structure and contains a smartphone and an external depth camera for recording visual, depth, and inertial data that are mutually synchronized. The system is synced at the time and the frame levels: every RGB image frame from the smartphone camera is exposed at the same moment of time with a depth camera frame with sub-millisecond precision. We provide a method and a tool for sync performance evaluation that can be applied to any pair of depth and RGB cameras. Our system could be replicated, modified, or extended by employing our open-sourced materials.
