3D Scan Applications in Logistics - Using CoAP with RGB-D Cameras
| Autor | Fabian Hüßler |
| Date | 23. June 2019 |
| Degree | Bachelor |
| Title |
3D Scan Applications in Logistics: Using CoAP with RGB-D Cameras (This version includes corrections from July 3, 2019) |
| Abstract | The embedded devices which form the Internet of Things (IoT) experience a rapid devel- opment in increasing processing power and decreasing chip sizes and prices. Future homes will be equipped with smart network interoperable devices, which will communicate over various network protocol stacks. In the fields of home- and industrial automation, cameras providing color and depth information prove to be very useful in many applications such as face recognition, pose tracking or environmental 3D scanning. The Constraint Application Protocol (CoAP) is a popular IoT protocol for low power and lossy wireless networks. CoAP is commonly used to transmit small sized sensor data, while image sizes may be in the order of MB. This thesis aims to provide a comprehensive Appli- cation Programming Inteface (API) to make camera resources from the state of the arts low cost Intel RealSense RGB-D (color and depth) cameras retrievable for a CoAP client. It also gives an insight in basic camera concepts and the use of cameras for logistic companies. As an example, the provided CoAP client computes the object dimensions of received point cloud data and may show the color image and the depth image in grayscale values. The client may monitor a resource, while it repeats the initial request. The application is tested in several test cases, which show that CoAP can be used for simple 3D scan applications, but packet drops become a bottleneck because with default protocol parameters (NSTART = 1), CoAP effectively becomes a “stop and wait” protocol. The median to transmit a color image with a resolution of 1280x720 pixels over a wireless network is 14.6 s. The median to transmit a full point cloud from a depth image with 1280x720 pixels over a wireless network could be reduced to 16 s. |