Consumer-Grade RGB-D Cameras

A new family of affordable active 3D imaging systems referred to as range cameras or RGB-D cameras has emerged in the last decade. These systems operate in the range of 0.4–10 m and are targeted directly at cost-sensitive consumers. They are typically specialized for capturing dynamic human activities and are designed to interfere only minimally with such activities. They use infrared-light sources and produce a continuous stream of 3D data at video frame rate. This chapter provides an overview of the three measurement principles that are behind most of today’s commercial RGB-D cameras, namely, active stereo vision, structured-light, and time-of-flight. Examples of range images acquired using different RGB-D cameras are provided to support the comparison. Advanced material regarding range uncertainty and lateral resolution is also provided to identify the limitations of various RGB-D cameras currently available on the market.