  Microsoft Kinect sensor has been widely used in many applications since the
launch of its first version. Recently, Microsoft released a new version of
Kinect sensor with improved hardware. However, the accuracy assessment of the
sensor remains to be answered. In this paper, we measure the depth accuracy of
the newly released Kinect v2 depth sensor, and obtain a cone model to
illustrate its accuracy distribution. We then evaluate the variance of the
captured depth values by depth entropy. In addition, we propose a trilateration
method to improve the depth accuracy with multiple Kinects simultaneously. The
experimental results are provided to ascertain the proposed model and method.
