Computational Visual Media

, Volume 4, Issue 2, pp 103–111 | Cite as

Depth error correction for projector-camera based consumer depth cameras

  • Hirotake YamazoeEmail author
  • Hiroshi Habe
  • Ikuhisa Mitsugami
  • Yasushi Yagi
Open Access
Research Article


This paper proposes a depth measurement error model for consumer depth cameras such as the Microsoft Kinect, and a corresponding calibration method. These devices were originally designed as video game interfaces, and their output depth maps usually lack sufficient accuracy for 3D measurement. Models have been proposed to reduce these depth errors, but they only consider camera-related causes. Since the depth sensors are based on projector-camera systems, we should also consider projector-related causes. Also, previous models require disparity observations, which are usually not output by such sensors, so cannot be employed in practice. We give an alternative error model for projector-camera based consumer depth cameras, based on their depth measurement algorithm, and intrinsic parameters of the camera and the projector; it does not need disparity values. We also give a corresponding new parameter estimation method which simply needs observation of a planar board. Our calibrated error model allows use of a consumer depth sensor as a 3D measuring device. Experimental results show the validity and effectiveness of the error model and calibration procedure.


consumer depth camera intrinsic calibration projector distortion 



This work was supported by the JST CREST “Behavior Understanding based on Intention-Gait Model” project.


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Authors and Affiliations

  • Hirotake Yamazoe
    • 1
    Email author
  • Hiroshi Habe
    • 2
  • Ikuhisa Mitsugami
    • 3
  • Yasushi Yagi
    • 4
  1. 1.College of Information Science and EngineeringRitsumeikan UniversityShigaJapan
  2. 2.Faculty of Science and EngineeringKindai UniversityOsakaJapan
  3. 3.Graduate School of Information SciencesHiroshima City UniversityHiroshimaJapan
  4. 4.The Institute of Scientific and Industrial ResearchOsaka UniversityOsakaJapan

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