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Floor Identification of Depth Feed RRS feed

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  • Is the angle at which you will be looking at this plane (the floor) predictable at all times?

    Clever, witty forum signature.

    Monday, February 20, 2012 3:18 AM
  • I've actually been trying to do this myself. I have had some luck by plotting a histogram of the depth values for each row of the depth image (this assumes that the kinect is horizontal and the floor is significantly visible) and finding the lowermost significant straight line in this histogram.

    You can see a paper here which uses this method although I have been finding it quite hard to implement

    http://www.iro.umontreal.ca/~mignotte/Publications/icost11.pdf (Look at Ground Plane Detection)

    Edit: Actually if you already have a floor plane from FloorClipPlane then you can use MapDepthToSkeletonPoint() to get your depth values in the same co-ordinate system and then compare how close each value lies to the plane. Not sure if that's the best way though,
    • Edited by robster113 Monday, February 20, 2012 7:19 AM
    Monday, February 20, 2012 7:08 AM