Figure 1

Leftmost column shows two mounted systems made up by depth sensors (Kinect on top, SwissRanger at the bottom) and a HD web camera. In the middle column, the re-sized depth maps and the color images (webcam) have been merged. Finally, in the rightmost column, we repeat the merging right after the depth maps have been registered into the color images using our algorithm. A twofold aim may be targeted: the addition of depth in a HD cam or the improvement in color resolution of Kinect. Moreover, images at the bottom of this figure may attest that our algorithm is valid for complex scenes which exhibit flexural geometry.