Multi-Kinect scene reconstruction: Calibration and depth inconsistencies

We investigated calibration procedures of multiple Kinect sensors simultaneously. Through standard calibration algorithms our multi-Kinect system is accurately registered. We propose and implemented a multi-Kinect system to seamlessly render a scene from a wide range of angles. Such a system is capable of real-time operation. We also investigated the problem of inconsistent depth measurement between different Kinect units, and arrived at the same conclusion as the state-of-the-art regarding the characteristics of depth measurement errors in the Kinect sensor. In order to compensate these errors for live acquisition and display of multi-Kinect systems, we introduced an offline ICP calibration of multiple Kinect data. Our experimental results provide a robust way to properly align multiple Kinect data.