Technical Specifications - Kinect

[Igor Valle]

Hi all,

Does anyone know something about kinect's technical specification ?

I know some capability , but I am looking for something of more specific about Depth sensor, for exaple is it possible to know how Z - resolution changes (if it changes) when the distance increases?

Thanks a lot!

At the moment i know this:

Sensor
Colour and depth-sensing lenses
Voice microphone array
Tilt motor for sensor adjustment
Fully compatible with existing Xbox 360 consoles

Field of View
Horizontal field of view: 57 degrees
Vertical field of view: 43 degrees
Physical tilt range: ± 27 degrees
Depth sensor range: 1.2m - 3.5m

Data Streams
320x240 16-bit depth @ 30 frames/sec
640x480 32-bit colour@ 30 frames/sec
16-bit audio @ 16 kHz

Skeletal Tracking System
Tracks up to 6 people, including 2 active players
Tracks 20 joints per active player
Ability to map active players to LIVE Avatars

Audio System
LIVE party chat and in-game voice chat (requires Xbox LIVE Gold Membership)
Echo cancellation system enhances voice input
Speech recognition in multiple

--
Igor Valle

[Suat Gedikli]

Hi,
the device actually determined depth estimation from disparities. The
disparities are quantized in 1/8 pixel steps. And the distance Z is
calculated as following:

Z = f * b / d

where f is the focal length, b the baseline (7.5 cm in our case) and d,
the disparity. From this formula you can calculate the depth resolution,
since d is quantized in 1/8 of a pixel.
the further away a point, the smaller is d. With the absolute error
around 1/8 pixel the relative error gets higher -> bigger steps in Z
values.

Cheers,
Suat Gedikli

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[Mark Dunne]

Thanks Igor, 

A very helpful post. IS the horizontal FOV (field of view) on the depth sensor and camera both 57 degrees?

Regards,

Mark.

[blueskin]

Does anyone have specs to the X-tion PRO from ASUS??
They have a really ridiculous documentation and support for their
product.
No specifications, No technical support contact information.

-CV

[fran]

Hi Suat,

I am currently working on a project using Kinect and need to calibrate it to take into account barrel distortion (and other lens aberrations), misalignment of RGB and depth maps, and subtle differences in the manufacture of different Kinect units. So understanding the depth response of the IR CMOS sensor and the depth acquisition algorithm on the PS1080 SoC is of significant importance.

I must admit I was somewhat confused by your post and hope you can explain the following:

1 -- What do you mean by "disparity"?
2 -- Does "baseline" refer to the distance between the centre of the IR laser and IR CMOS sensor? (Your value of 7.5cm seems to tally with this.)
3 -- What is the focal length of the lens in front of the IR CMOS sensor on Kinect?
4 -- Does Z represent depth values in the depth map returned by the SoC? If not, what does it represent and how does it relate to the depth map?
5 -- I have seen it suggested that the depth map values vary inversely with the true distance from the IR CMOS sensor - see http://www.ros.org/wiki/kinect_node/Calibration. Is this correct?
6 -- I do not understand your comment about depth resolution and absolute error.

Cheers,
Fran