Metrological comparison between Kinect I and Kinect II sensors

•Metrological performance of Kinect II sensor is evaluated using a standard artifact.•Range of Kinect II is limited to 4 m.•Precision of Kinect II appears less influenced by range than Kinect I.

This work shows a metrological comparison between Kinect I and Kinect II laser scanners. The comparison is made using a standard artefact based on 5 spheres and 7 cubes. Accuracy and precision tests are done for different ranges and changing the inclination angle between each sensor and the artefact. Results at 1 m range show similar precision in both cases with values between 2 mm and 6 mm. However, at 2 m range values of Kinect I increase up to 12 mm in some cases, while Kinect II keeps all results below 8 mm. Accuracy is also better for Kinect II at 1 m and 2 m range, with values always lower than −5 mm. Accuracy for Kinect I reaches −12 mm at 1 m range and −25 mm at 2 m range. Precision study shows a decrease of precision with range according a second order polynomial equation for Kinect I, while Kinect II shows a much more stable data. Measurement range of Kinect II is limited to 4 m, while Kinect I can obtain data up to 6 m.