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. Author manuscript; available in PMC: 2021 Apr 1.
Published in final edited form as: Comput Biol Med. 2020 Mar 4;119:103687. doi: 10.1016/j.compbiomed.2020.103687

Table 1.

RGB-D sensor capability comparison.

Feature Kinect v1 Asus Xtion PRO LIVE Kinect v2 Azure Kinect DK
RGB camera 1,280×960 px at 12 Hz 640×480 px at 30 Hz 1,280×1,024 px at 30 Hz 1,920×1,080 px at 30 Hz 3,840×2,160 px at 30 Hz
Depth camera 320×240 px at 30 Hz 640×480 px at 30 Hz
320×240 px at 60 Hz		 512×424 px at 30 Hz 640×576 px at 30 Hz
512×512 px at 30 Hz
1,024×1,024 px at 15 Hz
SL SL ToF ToF
Motion sensor None None 3-axis accelerometer 3-axis accelerometer +3-axis gyroscope
Operative measuring range 0.85~4m 0.8m~3.5m 0.5~4.5m 0.5~3.86m; 0.5~5.46m;
0.25~2.88m; 0.25~2.21m
Field of view (horizontal × vertical degrees) 57×43 degrees 58×45 degrees 70×60 degrees 75×65 degrees; 120×120 degrees
Skeleton joints 15 or 20 joints 15 joints 25 joints 32 joints