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Realistic RGB-D Sensor Noise Simulator

This is an OpenCV package for simulating RGB-D sensor such as Kinect or Xtion sesor noise as described in the following paper:

A Benchmark for RGB-D Visual Odometry , 3D Reconstruction and SLAM. Ankur Handa, Thomas Whelan, John McDonald, Andrew J. Davison In ICRA, 2014

Dependency

  • OpenCV 3.0
  • Boost
  • Eigen
  • Sophus
  • CUDA

How to compile

Make sure you have all dependency installed correctly.

$ git clone ...
$ cd rgbd_simulation
$ mkdir build
$ cd build
$ cmake ..
$ make

How to get started

  • Download the noise free RGB-D data from ICL dataset.
  • Extract the file into a folder. (tar -xvf living.tar.gz).
  • Edit line 159 - 160 to specify the input and output folder.
  • compile again and excute the code.
$ make
$ ./ICL

Example of simulated depth noise











The left is the original depth map and right is depth map with simulated kinect noise added.