Azure Kinect Calibration and Parameter Recommendation in Different Scenarios

The series of Kinect, which has the third-generation device now, is a low-cost scene information collection sensor to capture the color information and depth information from the scene at the same time. Due to the hardware structure of the sensor, the color image and the depth image shot by Kinect is not homologous. In this article, we compared the hardware parameters of different Kinect three generations of products, and we have calibrated the RGB camera and IR (infrared) camera of Azure Kinect, so as to the internal parameters and external parameters between the RGB camera and IR camera, and align the color image and depth image taken with Azure Kinect. At the same time, we evaluated the shooting accuracy and stability of Azure Kinect's depth camera, and conducted experiments on the relationship between shooting error and measurement distance on three generations of products, also the parameter optimization suggestions are provided. In addition, according to different usage scenarios, we recommend the shooting parameters and the image effective range of the sensor simultaneously.