Kinect Unleashed: Getting Control over High Resolution Depth Maps

The wide availability and economic price of Kinect popularized the concept of RGB-D cameras, which are increasingly used in a wide range of applications ranging from Human Computer Interfaces to Structural Analysis, Health Care and even Art. With over 20 million units sold, it is by far the most popular depth camera, although, being closed source, its internals are not entirely known. In this paper we focus on the PS1080 chip that executes the depth extraction algorithm inside Kinect and related devices. We propose an algorithm that can estimate the output of Kinect from the raw infrared camera data. Using this algorithm, the internal reference calibration image from Kinect can be obtained. This image allows us to model Kinect as a standard stereo camera, where alternative stereo algorithms can be used increasing the versatility of Kinect.