Statistical models of horizontal and vertical stochastic noise for the Microsoft Kinect™ sensor

Noise characteristics for the Microsoft Kinect sensor are presented. Horizontal (x) and vertical (y) stochastic noise are measured using a novel 3D checker board. Results show that the noise is affected mostly by the depth at which the object is sensed and by the radial distance from the center of the field of view. Measurement-based models for the noise in horizontal and vertical axes are presented. The proposed model is compared against existing models in literature and shows better results by considering the horizontal and vertical location of the depth measurement.