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We analyze Kinect as a 3D measuring device, experimentally investigate depth measurement resolution and error properties and make a quantitative comparison of Kinect accuracy with stereo reconstruction from SLR cameras and a 3D-TOF camera. We propose Kinect geometrical model and its calibration procedure providing an accurate calibration of Kinect 3D measurement and Kinect cameras. We demonstrate the functionality of Kinect calibration by integrating it into an SfM pipeline where 3D measurements from a moving Kinect are transformed into a common coordinate system by computing relative poses from matches in color camera.
Smíšek et al. (2011) studied this question.