Skeleton Tracking Accuracy and Precision Evaluation of Kinect V1, Kinect V2, and the Azure Kinect

The Azure Kinect, the successor of Kinect v1 and v2, is a depth sensor. In this paper we evaluate skeleton tracking abilities new sensor, namely accuracy precision (repeatability). Firstly, state technical features all three sensors, since want to put in context its previous versions. Then, present experimental results general obtained by measuring plate mounted robotic manipulator end effector which was moved along axis each sensor compare them. second experiment, human-sized figurine placed it same positions as test plate. Positions were located 400 mm from other. position, measured relative (repeatability) detected body joints. We compared concluded that surpasses discontinued predecessors, both precision. It suitable for human–robot interaction, body-motion analysis, other gesture-based applications. Our analysis serves pilot study future HMI (human–machine interaction) designs applications using puts successful predecessors.