RGB-D sensor data correction and enhancement by introduction of an additional RGB view

RGB-D sensors are becoming more and more vital to robotics. Sensors such as the Microsoft Kinect and time of flight cameras provide 3D colored point-clouds in real time can play a crucial role in Robot Vision. However these sensors suffer from precision deficiencies, and often the density of the point-clouds they provide is insufficient. In this paper, we present a multi-camera system for correction and enhancement of the data acquired from an RGB-D sensor. Our system consists of two sensors, the RGB-D sensor (main sensor) and a regular RGB camera (auxiliary sensor). We perform the correction and the enhancement of the data acquired from the RGB-D sensor by placing the auxiliary sensor in a close proximity to the target object and taking advantage of the established epipolar geometry. We have managed to reduce the relative error of the raw point-cloud from a Microsoft Kinect RGB-D sensor by 74.5 % and increase its density up to 2.5 times.