WeanalyzeKinectasa3Dmeasuringdevice,experimentallyinvestigatedepthmeasurementresolutionanderrorproperties,andmakeaquantitativecomparisonofKinectaccuracywithstereoreconstructionfromSLRcamerasanda3D-TOFcamera.WeproposeaKinectgeometricalmodelanditscalibrationprocedureprovidinganaccuratecal