Preprint Article Version 1 This version is not peer-reviewed

Metrological and Critical Characterization of the Intel D415 Stereo Depth Camera

Version 1 : Received: 21 December 2018 / Approved: 24 December 2018 / Online: 24 December 2018 (15:11:39 CET)

A peer-reviewed article of this Preprint also exists.

Carfagni, M.; Furferi, R.; Governi, L.; Santarelli, C.; Servi, M.; Uccheddu, F.; Volpe, Y. Metrological and Critical Characterization of the Intel D415 Stereo Depth Camera. Sensors 2019, 19, 489. Carfagni, M.; Furferi, R.; Governi, L.; Santarelli, C.; Servi, M.; Uccheddu, F.; Volpe, Y. Metrological and Critical Characterization of the Intel D415 Stereo Depth Camera. Sensors 2019, 19, 489.

Journal reference: Sensors 2019, 19, 489
DOI: 10.3390/s19030489

Abstract

Low-cost RGB-D cameras are increasingly used in several research fields including human-machine interaction, safety, robotics, biomedical engineering and even Reverse Engineering applications. Among the plethora of commercial devices, the Intel RealSense cameras proved to be among the best suitable devices, providing a good compromise between cost, ease of use, compactness and precision. Released on the market in January 2018, the new Intel model RealSense D415 has a wide acquisition range (i.e. ~160-10000 mm) and a narrow field of view to capture objects in rapid motion. Given the unexplored potential of this new device, especially when used as a 3D scanner, the present work aims to characterize and to provide metrological considerations on the RealSense D415. In particular, tests are carried out to assess the device performances in the near range (i.e. 100-1000 mm). Characterization is performed by integrating the guidelines of the existing standard (i.e. the German VDI/VDE 2634 part 2 normative) with a number of literature-based strategies. Performance analysis is finally compared against latest close-range sensors, thus providing a useful guidance for researchers and practitioners aiming to use RGB-D cameras in Reverse Engineering applications.

Subject Areas

Reverse Engineering, RealSense D415, depth camera, device characterization, VDI/VDE normative, active stereo, performance comparison

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