Table 1.

Technical specifications of consumer RGB-D cameras. SL: Structured light, ToF: Time of Flight.

Sensor	Measuring Range (m)	Error	Field of View HxV (Degrees)	Resolution Colour/Depth	Depth Resolution (cm)	Technology	FPS
Kinect v1	0.8–3.5	<4 cm	57 × 43	640 × 480 640 × 480	1 @ 2 m	SL	15/30
Carmine 1.08	0.8–3.5	-	57.5 × 45	640 × 480 640 × 480	1.2 @ 2 m	SL	60
Carmine 1.09	0.35–1.4	-	57.5 × 45	640 × 480 640 × 480	0.1 @ 0.5 m	SL	60
Xtion Pro	0. 8–3. 5	-	58 × 45	1280 × 1024 640 × 480	1 @ 2 m	SL	30/60
Real Sense	0. 2–1. 2	1%	59 × 46	1920 × 1080 640 × 480	-	SL	30/60
Kinect v2	0. 5–4. 5	0.5%	70 × 60	1920 × 1080 512 × 424	2 @ 2 m	ToF	15/30
Senz3D	0. 2–1. 0	-	74 × 41. 6	1080 × 720 320 × 240	-	ToF	30