From e67d06066cb0a141c242b7d40b992c70ab666c9f Mon Sep 17 00:00:00 2001
From: Jon Whiteaker <jbw@berkeley.edu>
Date: Thu, 1 Mar 2012 03:02:45 -0800
Subject: kinect subsection

---
 experimental.tex | 38 +++++++++++++++++++++-----------------
 1 file changed, 21 insertions(+), 17 deletions(-)

(limited to 'experimental.tex')

diff --git a/experimental.tex b/experimental.tex
index 1dedd1d..2f4d6d4 100644
--- a/experimental.tex
+++ b/experimental.tex
@@ -1,22 +1,26 @@
 \section{Experiment design}
 
-A real-life uncontrolled experiment using the kinect was conducted to
-test to the algorithm. 
-
-\subsection{Kinect}
-
-Signals:
-\begin{itemize}
-\item audio
-\item video
-\item depth map
-\end{itemize}
-
-Skeleton fitting:
-\begin{itemize}
-\item OpenNI (calibration needed)
-\item Microsoft SDK
-\end{itemize}
+We conduct a real-life uncontrolled experiment using the Kinect to test to the
+algorithm.  First we discuss the signal outputs of the Kinect.  Second we
+describe the environment in which we collect the data. Finally, we interpret
+the data.
+
+\subsection{Kinect} The Kinect outputs three primary signals in real-time: a
+color image stream, a depth image stream, and microphone output.  For our
+purposes, we focus on the depth image stream.  As the Kinect was designed to
+interface directly with the Xbox 360~\cite{xbox}, the tools to interact with it
+on a PC are limited.  Libfreenect~\cite{libfreenect} is a reverse engineered
+driver which gives access to the raw depth images from the Kinect.  This raw
+data could be used to implement the algorithms \eg of
+Plagemann~\etal{}~\cite{plagemann:icra10}.  Alternatively,
+OpenNI~\cite{openni}, a framework sponsored by PrimeSense~\cite{primesense},
+the company behind the technology of the Kinect, offers figure detection and
+skeleton fitting algorithms on top of raw access to the data streams.  However,
+the skeleton fitting algorithm of OpenNI requires each individual to strike a
+specific pose for calibration.  More recently, the Kinect for Windows
+SDK~\cite{kinect-sdk} was released, and its skeleton fitting algorithm operates
+in real-time without calibration.  Given that the Kinect for Windows SDK is the
+state-of-the-art, we use it to perform our data collection.
 
 \subsection{Environment}
 
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