Since Kinect is a recent development—it was released in November 2010—little information about
the geometric quality of its data is available. Geometric investigation and calibration of similar range sensors, such as the SwissRanger [19] and PMD [20], has been the topic of several previous
works [21–26]. However, these sensors are based on the time-of-flight measurement principle,and are
fundamentally different from the Kinect which is a triangulation sensor.