Multimodal Sensing Interface for Haptic Interaction

Figure 17

Extrinsic parameters of a frame. The chessboard was placed in the center of the test table (a) as observed from the Kinect IR camera. With the use of the calibration routine it was possible to compute the extrinsic parameters describing the position and orientation of the frame attached to the calibration board. This frame (in the center of the test table) was named (b).

(a)

(b)