Kinect Range Sensing: Structured-Light versus Time-of-Flight Kinect

Recently, the new Kinect One has been issued by Microsoft, providing the next generation of real-time range sensing devices based on the Time-of-Flight (ToF) principle. As the first Kinect version was using a structured light approach, one would expect various differences in the characteristics of the range data delivered by both devices. This paper presents a detailed and in-depth comparison between both devices. In order to conduct the comparison, we propose a framework of seven different experimental setups, which is a generic basis for evaluating range cameras such as Kinect. The experiments have been designed with the goal to capture individual effects of the Kinect devices as isolatedly as possible and in a way, that they can also be adopted, in order to apply them to any other range sensing device. The overall goal of this paper is to provide a solid insight into the pros and cons of either device. Thus, scientists that are interested in using Kinect range sensing cameras in their specific application scenario can directly assess the expected, specific benefits and potential problem of either device.Comment: 58 pages, 23 figures. Accepted for publication in Computer Vision and Image Understanding (CVIU

Toward-1mm depth precision with a solid state full-field range imaging system

Previously, we demonstrated a novel heterodyne based solid-state full-field range-finding imaging system. This system is comprised of modulated LED illumination, a modulated image intensifier, and a digital video camera. A 10 MHz drive is provided with 1 Hz difference between the LEDs and image intensifier. A sequence of images of the resulting beating intensifier output are captured and processed to determine phase and hence distance to the object for each pixel. In a previous publication, we detailed results showing a one-sigma precision of 15 mm to 30 mm (depending on signal strength). Furthermore, we identified the limitations of the system and potential improvements that were expected to result in a range precision in the order of 1 mm. These primarily include increasing the operating frequency and improving optical coupling and sensitivity. In this paper, we report on the implementation of these improvements and the new system characteristics. We also comment on the factors that are important for high precision image ranging and present configuration strategies for best performance. Ranging with sub-millimeter precision is demonstrated by imaging a planar surface and calculating the deviations from a planar fit. The results are also illustrated graphically by imaging a garden gnome

Optical techniques for 3D surface reconstruction in computer-assisted laparoscopic surgery

One of the main challenges for computer-assisted surgery (CAS) is to determine the intra-opera- tive morphology and motion of soft-tissues. This information is prerequisite to the registration of multi-modal patient-specific data for enhancing the surgeon’s navigation capabilites by observ- ing beyond exposed tissue surfaces and for providing intelligent control of robotic-assisted in- struments. In minimally invasive surgery (MIS), optical techniques are an increasingly attractive approach for in vivo 3D reconstruction of the soft-tissue surface geometry. This paper reviews the state-of-the-art methods for optical intra-operative 3D reconstruction in laparoscopic surgery and discusses the technical challenges and future perspectives towards clinical translation. With the recent paradigm shift of surgical practice towards MIS and new developments in 3D opti- cal imaging, this is a timely discussion about technologies that could facilitate complex CAS procedures in dynamic and deformable anatomical regions

Temporal structure in spiking patterns of ganglion cells defines perceptual thresholds in rodents with subretinal prosthesis.

Subretinal prostheses are designed to restore sight in patients blinded by retinal degeneration using electrical stimulation of the inner retinal neurons. To relate retinal output to perception, we studied behavioral thresholds in blind rats with photovoltaic subretinal prostheses stimulated by full-field pulsed illumination at 20 Hz, and measured retinal ganglion cell (RGC) responses to similar stimuli ex-vivo. Behaviorally, rats exhibited startling response to changes in brightness, with an average contrast threshold of 12%, which could not be explained by changes in the average RGC spiking rate. However, RGCs exhibited millisecond-scale variations in spike timing, even when the average rate did not change significantly. At 12% temporal contrast, changes in firing patterns of prosthetic response were as significant as with 2.3% contrast steps in visible light stimulation of healthy retinas. This suggests that millisecond-scale changes in spiking patterns define perceptual thresholds of prosthetic vision. Response to the last pulse in the stimulation burst lasted longer than the steady-state response during the burst. This may be interpreted as an excitatory OFF response to prosthetic stimulation, and can explain behavioral response to decrease in illumination. Contrast enhancement of images prior to delivery to subretinal prosthesis can partially compensate for reduced contrast sensitivity of prosthetic vision