On depth smoothing and fake laser rangefinder based on kinect

Laser rangefinder can accurately acquire environment information by using laser distance measuring technology. So it attracts a lot of attention in robot navigation, localization, obstacle avoidance and path planning. But dues to its high cost of several thousands of dollars, laser rangefinder can not be introduced widely to researchers. In this paper, research on fake laser rangefinder based on inexpensive Kinect is mentioned. Depth information is captured, smoothed and recovered by means of iterative algorithms to be accurate. Then depth information is transferred using a geometric model to acquire environment information. The experimental results certify the practicability and reliability of this method.