Table 1.

Properties of the RGB-D sensors used in our experiment.

	Sensor
Parameter	Orbbec Astra s	Microsoft Kinect ii	Intel sr300	Intel d435
Range	0.4 m–2 m	0.5 m–4.5 m	0.3 m–2 m	0.2 m–10 m
RGB FOV	60${}^{\circ }$(H) × 49.5${}^{\circ }$(V) × 73${}^{\circ }$(D)	70.6${}^{\circ }$(H) × 60${}^{\circ }$(V)	41.5${}^{\circ }$(H) × 68${}^{\circ }$(V) × 75.2${}^{\circ }$(D)	69.4${}^{\circ }$(H) × 42.5${}^{\circ }$(V) ) × 77${}^{\circ }$(D)
Depth FOV	60${}^{\circ }$(H) × 49.5${}^{\circ }$(V) × 73${}^{\circ }$(D)	70.6${}^{\circ }$(H) × 60${}^{\circ }$(V)	55${}^{\circ }$(H) × 71.55${}^{\circ }$(V) × 88${}^{\circ }$(D)	91.2${}^{\circ }$(H) × 65.5${}^{\circ }$(V)) × 100.6${}^{\circ }$(D)
Frame rate	30 fps	30 fps	30, 60 fps	30, 60, 90 fps
RGB resolution	640 × 480 pixel	1920 × 1080 pixel	1920 × 1080 pixel	1920 × 1080 pixel
				1280 × 720 pixel
				848 × 480 pixel
				640 × 480 pixel
Depth resolution	640 × 480 pixel	512 × 424 pixel	640 × 480 pixel	1280 × 720 pixel
				848 × 480 pixel
				640 × 480 pixel
Weight	300 g	966 g	300 g	100 g
Size	165 mm × 30 mm × 40 mm	255 mm × 66 mm × 67 mm	110 mm × 12.6 mm × 4.1 mm	90 mm × 25 mm × 25 mm
Power supply	USB 2.0	power supply + USB 3.0	USB 3.0	USB 3.0
Power consumption	<2.4 W	∼15 W	650–1800 mW	618–1978 mW
Operating	Android, Linux	Linux	Linux	Linux
system	Windows 7/8/10	Windows 8/10	Windows 8/10	Window 8/10
SDK	Astra SDK	Kinect V2 SDK	Intel©RealSenseTM	Intel©RealSenseTM SDK
	OpenNI2	libfreenect2	SDK	librealsense SDK ${}^1$
	3rd party S		librealsense sdk ${}^2$	hand and face tracking

${}^1$https://github.com/IntelRealSense/librealsense; ${}^2$https://github.com/IntelRealSense/librealsense. (H)—Horizontal, (V)—Vertical, (D)—Diagonal.