Sensors provide depth data
Instead of using 2D images to determine depth, the system uses an Asus Xtion PRO sensor to provide depth data using structured light. The data are streamed at a frame rate of 30 fps. By calibrating the depth sensor and the thermal imaging camera, as well as the intrinsic parameters of the camera, the system projects thermal images onto a mesh to generate textured coordinates. On the next slide, see how the Kinect Fusion generates the mesh.