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\subsubsection{Kinect's Structured Light Sensing Principles}  Even though the principle of structured light(SL) range sensing is comparatively old, the launch of the Microsoft KinectTM(KinectSL) in 2010 as interaction device for the XBox360 clearly demonstrates the maturity of the underlying principle. The structured light approach is an active stereo-vision technique. A sequence of known patterns is sequentially projected on to an object, which gets deformed by geometric shape of the object. The object is then observed from a camera from a different direction. By analyzing the distortion of the observed pattern,i.e.the disparity from the original projected pattern, depth information can be extracted; see Figure 6. \cite{sarbolandi2015kinect}