Color and depth image correspondence for Kinect v2

Abstract

Kinect v2, a new version of Kinect sensor, provides RGB, IR (Infra- Red) and depth images like its predecessor Kinect v1. However, the depth measurement mechanism and the image resolutions of the Kinect v2 are different from those of Kinect v1, which requires a new transformation matrix for the camera calibration of Kinect v2. In this paper, we correct the radial distortion of the RGB camera and find the transformation matrix for the correspondence between the RGB and depth image of the Kinect v2. Experimental results show that our method yields accurate correspondence between the RGB and depth images.