Metrological Characterization and Comparison of D415, D455, L515 RealSense Devices in the Close Range

RGB-D cameras are employed in several research fields and application scenarios. Choosing the most appropriate sensor has been made more difficult by the increasing offer of available products. Due to the novelty of RGB-D technologies, there was a lack of tools to measure and compare performances of...

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Autores principales:	Michaela Servi, Elisa Mussi, Andrea Profili, Rocco Furferi, Yary Volpe, Lapo Governi, Francesco Buonamici
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	RealSense D415 RealSense D455 depth camera RealSense L515 ISO 10360-13 device characterization Chemical technology TP1-1185
Acceso en línea:	https://doaj.org/article/488aa9740f2542929aa5d35ade5754c3
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spelling	oai:doaj.org-article:488aa9740f2542929aa5d35ade5754c32021-11-25T18:59:11ZMetrological Characterization and Comparison of D415, D455, L515 RealSense Devices in the Close Range10.3390/s212277701424-8220https://doaj.org/article/488aa9740f2542929aa5d35ade5754c32021-11-01T00:00:00Zhttps://www.mdpi.com/1424-8220/21/22/7770https://doaj.org/toc/1424-8220RGB-D cameras are employed in several research fields and application scenarios. Choosing the most appropriate sensor has been made more difficult by the increasing offer of available products. Due to the novelty of RGB-D technologies, there was a lack of tools to measure and compare performances of this type of sensor from a metrological perspective. The recent ISO 10360-13:2021 represents the most advanced international standard regulating metrological characterization of coordinate measuring systems. Part 13, specifically, considers 3D optical sensors. This paper applies the methodology of ISO 10360-13 for the characterization and comparison of three RGB-D cameras produced by Intel<sup>®</sup> RealSense™ (D415, D455, L515) in the close range (100–1500 mm). ISO 10360-13 procedures, which focus on metrological performances, are integrated with additional tests to evaluate systematic errors (acquisition of flat objects, 3D reconstruction of objects). The present paper proposes an off-the-shelf comparison which considers the performance of the sensors throughout their acquisition volume. Results have exposed the strengths and weaknesses of each device. The D415 device showed better reconstruction quality on tests strictly related to the short range. The L515 device performed better on systematic depth errors; finally, the D455 device achieved better results on tests related to the standard.Michaela ServiElisa MussiAndrea ProfiliRocco FurferiYary VolpeLapo GoverniFrancesco BuonamiciMDPI AGarticleRealSense D415RealSense D455depth cameraRealSense L515ISO 10360-13device characterizationChemical technologyTP1-1185ENSensors, Vol 21, Iss 7770, p 7770 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	RealSense D415 RealSense D455 depth camera RealSense L515 ISO 10360-13 device characterization Chemical technology TP1-1185
spellingShingle	RealSense D415 RealSense D455 depth camera RealSense L515 ISO 10360-13 device characterization Chemical technology TP1-1185 Michaela Servi Elisa Mussi Andrea Profili Rocco Furferi Yary Volpe Lapo Governi Francesco Buonamici Metrological Characterization and Comparison of D415, D455, L515 RealSense Devices in the Close Range
description	RGB-D cameras are employed in several research fields and application scenarios. Choosing the most appropriate sensor has been made more difficult by the increasing offer of available products. Due to the novelty of RGB-D technologies, there was a lack of tools to measure and compare performances of this type of sensor from a metrological perspective. The recent ISO 10360-13:2021 represents the most advanced international standard regulating metrological characterization of coordinate measuring systems. Part 13, specifically, considers 3D optical sensors. This paper applies the methodology of ISO 10360-13 for the characterization and comparison of three RGB-D cameras produced by Intel<sup>®</sup> RealSense™ (D415, D455, L515) in the close range (100–1500 mm). ISO 10360-13 procedures, which focus on metrological performances, are integrated with additional tests to evaluate systematic errors (acquisition of flat objects, 3D reconstruction of objects). The present paper proposes an off-the-shelf comparison which considers the performance of the sensors throughout their acquisition volume. Results have exposed the strengths and weaknesses of each device. The D415 device showed better reconstruction quality on tests strictly related to the short range. The L515 device performed better on systematic depth errors; finally, the D455 device achieved better results on tests related to the standard.
format	article
author	Michaela Servi Elisa Mussi Andrea Profili Rocco Furferi Yary Volpe Lapo Governi Francesco Buonamici
author_facet	Michaela Servi Elisa Mussi Andrea Profili Rocco Furferi Yary Volpe Lapo Governi Francesco Buonamici
author_sort	Michaela Servi
title	Metrological Characterization and Comparison of D415, D455, L515 RealSense Devices in the Close Range
title_short	Metrological Characterization and Comparison of D415, D455, L515 RealSense Devices in the Close Range
title_full	Metrological Characterization and Comparison of D415, D455, L515 RealSense Devices in the Close Range
title_fullStr	Metrological Characterization and Comparison of D415, D455, L515 RealSense Devices in the Close Range
title_full_unstemmed	Metrological Characterization and Comparison of D415, D455, L515 RealSense Devices in the Close Range
title_sort	metrological characterization and comparison of d415, d455, l515 realsense devices in the close range
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/488aa9740f2542929aa5d35ade5754c3
work_keys_str_mv	AT michaelaservi metrologicalcharacterizationandcomparisonofd415d455l515realsensedevicesinthecloserange AT elisamussi metrologicalcharacterizationandcomparisonofd415d455l515realsensedevicesinthecloserange AT andreaprofili metrologicalcharacterizationandcomparisonofd415d455l515realsensedevicesinthecloserange AT roccofurferi metrologicalcharacterizationandcomparisonofd415d455l515realsensedevicesinthecloserange AT yaryvolpe metrologicalcharacterizationandcomparisonofd415d455l515realsensedevicesinthecloserange AT lapogoverni metrologicalcharacterizationandcomparisonofd415d455l515realsensedevicesinthecloserange AT francescobuonamici metrologicalcharacterizationandcomparisonofd415d455l515realsensedevicesinthecloserange
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Metrological Characterization and Comparison of D415, D455, L515 RealSense Devices in the Close Range

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