The Kinect Sensor hardware specification has been
described in many recent publications [3], [5]–[7]. The Kinect
Sensor (Figure 1) has a 640 x 480 32-bit RGB color camera
and a 320*240 16-bit depth camera both running at 30 frames
per second. The field of view (FOV) of cameras are 57º
horizontally and 43º vertically