Characterization of Different Microsoft Kinect Sensor Models

Document Type


Date of Original Version



This experimental study investigates the performance of three different models of the Microsoft Kinect sensor using the OpenNI driver from Primesense. The accuracy, repeatability, and resolution of the different Kinect models' abilities to determine the distance to a planar target was explored. An ANOVA analysis was performed to determine if the model of the Kinect, the operating temperature, or their interaction were significant factors in the Kinect's ability to determine the distance to the target. Different sized gauge blocks were also used to test how well a Kinect could reconstruct precise objects. Machinist blocks were used to examine how well the Kinect could reconstruct objects setup on an angle and determine the location of the center of a hole. All the Kinect models were able to determine the location of a target with a low standard deviation (<2 mm). At close distances, the resolutions of all the Kinect models were 1 mm. Through the ANOVA analysis, the best performing Kinect at close distances was the Kinect model 1414, and at farther distances was the Kinect model 1473. The internal temperature of the Kinect sensor had an effect on the distance reported by the sensor. Using different correction factors, the Kinect was able to determine the volume of a gauge block and the angles machinist blocks were setup at, with under a 10% error.

Publication Title

IEEE Sensors Journal