Table 3.

Performance of Kinect I and Kinect II, with factors influencing performance (significant differences are printed in bold typeface)

Performance measure	Kinect I	Kinect II
Operating range	Pale card ≥ 0.5 m, ≤60° ≥ 0.7 m, ≤75° Medium/dark card ≥ 0.5 m, ≤60° ≥ 0.6 m, ≤75°	Pale/medium card ≥ 0.7 m, ≤75° Dark card ≥ 0.5 m, ≤ 75°
Accuracy (mm) Mean and SD % measurements <2 mm	2.5 ± 1.9 59% Decreases with larger operating distance	4.0 ± 3.8 64% Decreases with larger operating distance
Precision (mm) Mean and SD	1.0 ± 0.35 Decreases with larger operating distance. Increases with larger angles, poor for 75° No significant influence of illumination or object color	0.52 ± 0.27 Pale card: 0.51 ± 0.27 Dark card: 0.57 ± 0.27 Moderately decreases with larger angles, poor for 75° No significant influence of illumination
Resolution (points/cm2) Mean and SD	449.7 ± 51.8 Decreases significantly with brighter illumination No significant influence of object color	426.2 ± 51.8 Decreases significantly with brighter illumination Pale colors increase resolution