Metrological evaluation of Microsoft Kinect and Asus Xtion sensors

Abstract In recent months Kinect and Xtion sensors appear massively at the entertainment market. In parallel, many developers show engineering applications of the system related with their 3D imaging possibilities. In this work a metrological geometric verification of the systems is performed using a standard artifact which consists of five delrin spheres and seven aluminum cubes. Accuracy and precision tests show non-dependence with the type of sensor (two Kinect and one Xtion are used for the experiment) or with the incident angle between the standard artifact and the sensor (45°, 90° and 135°). Precision decreases with range according to a second order polynomial equation. Ranges larger than 7 m cannot provide any measurement. Accuracy data change from 5 mm to −15 mm for 1 m range and from 5 mm to −25 mm for 2 m range. Precision data change from 1 mm to 6 mm for 1 m range and from 4 mm to 14 mm for 2 m range. The results confirm that these sensors can be used in many engineering applications when the measurement range is short and accuracy requirements are not very strict.