2

2-1 Kinect USB2.0

Kinect VGA
RGB

2-1

4.1

Kinect

Kinect

4.2

Kinect PrimeSense Light Coding

Error! Reference source not

found. 2-2

(a)

(b)
2-2

Kinect Kinect PrimeSense

2-1

2-1

PrimeSense [11]

Field of View

58 H, 45 V, 70 D

(Horizontal,Vertical, Diagonal)
Depth image size VGA
Spatial x/y resolution
(2m distance from sensor)
Depth z resolution
(2m distance from sensor)
Maximum image throughput
(frame rate)
Operation range
Color image size UXGA

4.3

640x480[pixel]
3[mm]
1[cm]
60[fps]
0.8[m] - 3.5[m]
1600x1200

2-3

 2-3

2[m]

2-4 2-3 200200[mm]

100[mm]
1000~6000[mm] 500[mm]

100[mm]

500[mm]12

1000

2000

3000

4000

5000

6000[mm]
2-4.

2-5

120
100
2.0429

y = 0.000002x
2
R = 0.9984

[mm]

80
60
40

20
0
0

1000

2000

2-5

3000
[mm]

4000

5000

6000

2-5

PrimeSense 2000[mm] 10[mm]

11[mm]Kinect

PrimeSense 0.8~3.5[m]
6000[mm]0.8~3.5[m]

3500[mm] 36[mm] 0.8~3.5[m]

36[mm]

4.4

2-6 (

2-3) 100~6000[mm] 50[mm]

1000

50[mm]120

100[mm]
6000[mm]

2-6

2-7

7000

100
(

6000

80

4000
3000

60

40

[mm]

5000

2000
20

1000
0
0

1000

2-7

2000

3000
[mm]

4000

5000

0
6000

(0~6000[mm])

0.8~3.5[m] 0~3500[mm]
2-8

3500

[mm]

3000

25

y = 1.0546x - 71.183
2
R = 0.9996

20

y = 0.0035x - 1.7011
R2 = 0.5323

2500

15

2000
10

1500

[mm]

4000

1000
5
500
0
0

500

1000

1500
2000
[mm]

2500

3000

2-8

(0~3500[mm])

0
3500

2-7 2-8

600[mm]0 600[mm]
PrimeSense 0.8[m]

[1000][2000]
[mm]

4-7
3500[mm] 121[mm]

2-7 2-8 600~3500[mm]

3500[mm]

11[bit](2048 )
6000