1：Experimental Design and Method Selection:

The study employs a photogrammetric bundle adjustment with self-calibration model to correct systematic errors in the Kinect's depth data. The methodology includes modeling the intrinsic and extrinsic parameters of the infrared and colour cameras, and distortions in the depth image.

2：Sample Selection and Data Sources:

Two Kinect for Xbox sensors were used. Images were captured using the standard VGA resolution to ensure that the IR images are calibrated at the same image resolution as the depth images.

3：List of Experimental Equipment and Materials:

Microsoft Kinect sensors, a checkerboard target for calibration, and software tools including the MATLAB Camera Calibration Toolbox and the Microsoft Kinect SDK.

4：Experimental Procedures and Operational Workflow:

Following a two-hour warm-up period, depth images, IR images, and RGB images of a checkerboard target were acquired from various positions and orientations. The calibration procedure involved capturing RGB and depth images together first, then covering the projector to capture the IR image of the scene illuminated by an external light source.

5：Data Analysis Methods:

The study uses the Gauss-Helmert least-square model for minimizing the summation of the weighted residuals. Baarda’s data snooping with a 5% level of significance was used to minimize the possibility of outliers in the adjustment.