Accuracy Investigation for Structured-light Based Consumer 3D Sensors

This work focuses on the performance investigation of consumer 3D sensors with respect to their repeatability and accuracy. It explores currently available sensors based on the 3D sensing technology developed by PrimeSense and introduced to the market in the form of the Microsoft Kinect. Accuracy and repeatability can be crucial criteria for the use of these sensors outside their intended use for home entertainment. The test strategies for the study are motivated by the VDI/VDE 2634 guideline. At the core of the work is the investigation of several units of the Asus Xtion Pro and the PrimeSense Developer Kit and a comparison of their performance. Altogether eighteen sensor units were tested. The results of the proposed test scenario for the sensor units show excellent repeatability at a few millimetres. However, absolute accuracy is worse and can be up to a few centimetres. Sensor performance varies greatly both for sensors of the same manufacturer and in-between manufacturers.