An Empirical Evaluation of Ten Depth Cameras: Bias, Precision, Lateral Noise, Different Lighting Conditions and Materials, and Multiple Sensor Setups in Indoor Environments

Over the last few years, novel color and depth sensors have pushed the boundaries of robot perception significantly. Today, several new depth-sensing products are replacing the earlier, well-examined red-green-blue-depth (RGBD) sensors, which have reached the end of their product life cycle and are no longer available. The properties of the new sensors have not yet been investigated, and it is unclear how they will compare to earlier RGBD sensors.