A multiple camera calibration and point cloud fusion tool for Kinect V2

This paper introduces a tool for calibrating multiple Kinect V2 sensors. To achieve the calibration, at least three acquisitions are needed from each camera. The method uses the Kinect's coordinate mapping capabilities between the sensors to register data between camera, depth, and color spaces. The method uses a novel approach where it obtains multiple 3D points matches between adjacent sensors, and use them to estimating the camera parameters. Once the cameras are calibrated, the tool can perform point cloud fusion transforming all the 3D points to a single reference. We tested the system with a network of four Kinect V2 sensors and present calibration results. The tool is implemented in MATLAB using the Kinect for Windows SDK 2.0.