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Precision improvement of RGD-D camera with photometric stereo method

A RGB-D camera such as Microsoft Kinect can capture 3D depth data and color images simultaneously in real time. The main shortcoming is that the precision of the depth data is lower than other usual 3D scan systems. The color images with higher resolution can be used to compensate for such loss. In computer vision, shape from photometric stereo is used to capture shape from multiple images illuminated with different light sources. The details of the shape are represented by its local normal. In this paper, a controlled three light sources illumination system is designed to support Kinect sensor, and the normal maps are captured at 10HZ. An energy spline model is used to fuse the depth map and normal map, and results in a high quality shape. Some experiments are presented to verify the methods.