Automatic graph based spatiotemporal extrinsic calibration of multiple Kinect V2 ToF cameras.

This paper presents a novel technique for the automatic calibration of motion capture systems composed of multiple Time of Flight cameras (ToF) or any equivalent device able to provide 3D point clouds together with chromatic information. The calibration procedure is designed to be simple, fast and unsupervised: a colored sphere moved freely by hand is used as calibration tool.