Evaluating and Improving the Depth Accuracy of Kinect for Windows v2

Microsoft Kinect sensor has been widely used in many applications since the launch of its first version. Recently, Microsoft released a new version of Kinect sensor with improved hardware. However, the accuracy assessment of the sensor remains to be answered. In this paper, we measure the depth accuracy of the newly released Kinect v2 depth sensor, and obtain a cone model to illustrate its accuracy distribution. We then evaluate the variance of the captured depth values by depth entropy. In addition, we propose a trilateration method to improve the depth accuracy with multiple Kinects simultaneously. The experimental results are provided to ascertain the proposed model and method