ThearticledescribesanewalgorithmforcalibratingaKinectsensorthatachieveshighaccuracyusingonly6to10image-disparitypairsofaplanarcheckerboardpattern.Themethodestimatestheprojectionparametersforbothcoloranddepthcameras,therelativeposebetweenthem,andthefunctionthatconvertskinectdisparity