Easy depth sensor calibration

This paper proposes a depth measurement error model of consumer depth cameras such as Microsoft KINECT, and its calibration method. These devices are originally designed for video game interface, thus, the obtained depth map are not enough accurate for 3D measurement. To decrease these depth errors, several models have been proposed, however, these models consider only camera-related parameters. Since the depth sensors are based on projector-camera systems, we should consider projector-related parameters. Therefore, we propose the error model of the consumer depth cameras especially the KINECT, considering both intrinsic parameters of the camera and the projector. To calibrate the error model, we also propose the parameter estimation method by only showing a planar board to the depth sensors. Our error model and its calibration are necessary step for using the KINECT as a 3D measuring device. Experimental results show the validity and effectiveness of the error model and its calibration.