  We present a comprehensive overview of the stereoscopic Intel RealSense RGBD
imaging systems. We discuss these systems' mode-of-operation, functional
behavior and include models of their expected performance, shortcomings, and
limitations. We provide information about the systems' optical characteristics,
their correlation algorithms, and how these properties can affect different
applications, including 3D reconstruction and gesture recognition. Our
discussion covers the Intel RealSense R200 and the Intel RealSense D400
(formally RS400).
