# Kinect Range Sensing: Structured-Light versus Time-of-Flight Kinect

arXiv: https://arxiv.org/abs/1505.05459 · HTML: https://mlsanity.com/paper/1505.05459/

## Key facts

- Cited by 16 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 20 May 2015.

## Built on by (most cited first, 16 of 16)

- [Spatial-SSRL: Enhancing Spatial Understanding via Self-Supervised Reinforcement Learning](https://mlsanity.com/paper/2510.27606/) (2025)
- [HRBF-Fusion: Accurate 3D reconstruction from RGB-D data using on-the-fly implicits](https://mlsanity.com/paper/2202.01829/) (2022)
- [Active Stereo Without Pattern Projector](https://mlsanity.com/paper/2309.12315/) (2023)
- [Semi-Perspective Decoupled Heatmaps for 3D Robot Pose Estimation from Depth Maps](https://mlsanity.com/paper/2207.02519/) (2022)
- [Depth Estimation by Combining Binocular Stereo and Monocular Structured-Light](https://mlsanity.com/paper/2203.10493/) (2022)
- [Road Surface Defect Detection -- From Image-based to Non-image-based: A Survey](https://mlsanity.com/paper/2402.04297/) (2024)
- [I2-SLAM: Inverting Imaging Process for Robust Photorealistic Dense SLAM](https://mlsanity.com/paper/2407.11347/) (2024)
- [Continuous Cost Aggregation for Dual-Pixel Disparity Extraction](https://mlsanity.com/paper/2306.07921/) (2023)
- [Structured Light with Redundancy Codes](https://mlsanity.com/paper/2206.09243/) (2022)
- [Depth-based Privileged Information for Boosting 3D Human Pose Estimation on RGB](https://mlsanity.com/paper/2409.11104/) (2024)
- [A Hybrid mmWave and Camera System for Long-Range Depth Imaging](https://mlsanity.com/paper/2106.07856/) (2021)
- [3D Pose Nowcasting: Forecast the Future to Improve the Present](https://mlsanity.com/paper/2308.12914/) (2023)
- [Enhancement of 3D Camera Synthetic Training Data with Noise Models](https://mlsanity.com/paper/2402.16514/) (2024)
- [Active Stereo in the Wild through Virtual Pattern Projection](https://mlsanity.com/paper/2406.04345/) (2024)
- [GazeD: Context-Aware Diffusion for Accurate 3D Gaze Estimation](https://mlsanity.com/paper/2601.12948/) (2026)
- [Contactless 3D Human Body Measurement Using Depth Cameras for Smart Health Monitoring](https://mlsanity.com/paper/2606.11578/) (2026)

## Abstract (arXiv)

Recently, the new Kinect One has been issued by Microsoft, providing the next generation of real-time range sensing devices based on the Time-of-Flight (ToF) principle. As the first Kinect version was using a structured light approach, one would expect various differences in the characteristics of the range data delivered by both devices. This paper presents a detailed and in-depth comparison between both devices. In order to conduct the comparison, we propose a framework of seven different experimental setups, which is a generic basis for evaluating range cameras such as Kinect. The experiments have been designed with the goal to capture individual effects of the Kinect devices as isolatedly as possible and in a way, that they can also be adopted, in order to apply them to any other range sensing device. The overall goal of this paper is to provide a solid insight into the pros and cons of either device. Thus, scientists that are interested in using Kinect range sensing cameras in their specific application scenario can directly assess the expected, specific benefits and potential problem of either device.