RGB-D cameras

Source:  Cometlabs

• Provide depth information directly
• Employed by most of the SLAM systems
• Generate 3D images through structured light or time of flight technology
  • Structured light
    • camera projects a known pattern onto objects
    • Perceives deformation of pattern by an infrared camera
    • This lets depth and surface information of the objects be calculated
  • Time of flight
    • ToF of a light signal between camera and objects is measured –> from this, depth is obtained
• Structured light sensors are sensitive to illumination – not applicable in direct sunlight

Limitations

• Range data for semi-transparent or highly reflective surfaces are not reliable
• Limited effective range