Object Discovery with a Microsoft Kinect

Malmsten, Paul Oesterle

Student Work

Object Discovery with a Microsoft Kinect

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I introduce a simple yet robust algorithm for discovering objects and level planes from depth information produced by a Microsoft Kinect. In a controlled indoor environment, this algorithm discovers objects on multiple surfaces at varying heights and distinguishes between separate objects on the same surface. The algorithm includes eliminating large planes from the input, clustering objects by spatial proximity, and by filtering results using domain knowledge of the environment.

This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

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