@article{ART003329442},
author={Kwang-Ho Yang and Hyeon-O Choe},
title={Comparative Analysis of Depth Sampling Strategies on Coordinate Transformation Consistency in a ROS-Based RGB-D Pipeline},
journal={Journal of The Korea Society of Computer and Information},
issn={1598-849X},
year={2026},
volume={31},
number={4},
pages={23-31}
TY - JOUR
AU - Kwang-Ho Yang
AU - Hyeon-O Choe
TI - Comparative Analysis of Depth Sampling Strategies on Coordinate Transformation Consistency in a ROS-Based RGB-D Pipeline
JO - Journal of The Korea Society of Computer and Information
PY - 2026
VL - 31
IS - 4
PB - The Korean Society Of Computer And Information
SP - 23
EP - 31
SN - 1598-849X
AB - This paper comparatively analyzes depth sampling strategies and their effect on coordinate transformation consistency in a ROS-based RGB-D perception pipeline. The proposed pipeline consists of RGB-based ROI detection, window-based depth sampling for 3D position estimation, ROS TF coordinate transformation, and TCP-based control command delivery. Three sampling strategies (1×1 single-pixel, 3×3 and 5×5 window median) were evaluated across nine experimental conditions, including three camera-to-object distances (30, 40, 50 cm) and three lighting levels (bright, normal, dim), totaling 270 repeated trials. The 3×3 window median improved consistency by 5.7 times over single-pixel sampling, and 5×5 by 8.1 times (Kruskal-Wallis H=71.59, p<0.001). All conditions maintained deviations below 1.3 mm, confirming that depth sampling strategy is a critical design parameter for coordinate transformation reliability.
KW - RGB-D Camera;Coordinate Transformation;ROS;Depth Sampling;Consistency Evaluation
DO -
UR -
ER -
Kwang-Ho Yang and Hyeon-O Choe. (2026). Comparative Analysis of Depth Sampling Strategies on Coordinate Transformation Consistency in a ROS-Based RGB-D Pipeline. Journal of The Korea Society of Computer and Information, 31(4), 23-31.
Kwang-Ho Yang and Hyeon-O Choe. 2026, "Comparative Analysis of Depth Sampling Strategies on Coordinate Transformation Consistency in a ROS-Based RGB-D Pipeline", Journal of The Korea Society of Computer and Information, vol.31, no.4 pp.23-31.
Kwang-Ho Yang, Hyeon-O Choe "Comparative Analysis of Depth Sampling Strategies on Coordinate Transformation Consistency in a ROS-Based RGB-D Pipeline" Journal of The Korea Society of Computer and Information 31.4 pp.23-31 (2026) : 23.
Kwang-Ho Yang, Hyeon-O Choe. Comparative Analysis of Depth Sampling Strategies on Coordinate Transformation Consistency in a ROS-Based RGB-D Pipeline. 2026; 31(4), 23-31.
Kwang-Ho Yang and Hyeon-O Choe. "Comparative Analysis of Depth Sampling Strategies on Coordinate Transformation Consistency in a ROS-Based RGB-D Pipeline" Journal of The Korea Society of Computer and Information 31, no.4 (2026) : 23-31.
Kwang-Ho Yang; Hyeon-O Choe. Comparative Analysis of Depth Sampling Strategies on Coordinate Transformation Consistency in a ROS-Based RGB-D Pipeline. Journal of The Korea Society of Computer and Information, 31(4), 23-31.
Kwang-Ho Yang; Hyeon-O Choe. Comparative Analysis of Depth Sampling Strategies on Coordinate Transformation Consistency in a ROS-Based RGB-D Pipeline. Journal of The Korea Society of Computer and Information. 2026; 31(4) 23-31.
Kwang-Ho Yang, Hyeon-O Choe. Comparative Analysis of Depth Sampling Strategies on Coordinate Transformation Consistency in a ROS-Based RGB-D Pipeline. 2026; 31(4), 23-31.
Kwang-Ho Yang and Hyeon-O Choe. "Comparative Analysis of Depth Sampling Strategies on Coordinate Transformation Consistency in a ROS-Based RGB-D Pipeline" Journal of The Korea Society of Computer and Information 31, no.4 (2026) : 23-31.
