A Navigation System for the Visually Impaired: A Fusion of Vision and Depth Sensor

Table 2

Calibration parameter values of the Kinect sensor used in this work. and are the focal lengths in and (to accommodate astigmatism of the lens systems) of the colour camera and depth sensor, respectively. and are radial distortion parameters, while , , and are tangential distortion parameters.

=	=
=	=