- Range: ~ 50 cm to 5 m. Can get closer (~ 40 cm) in parts, but can’t have the full view be < 50 cm.
- Horizontal Resolution: 640 x 480 and 45 degrees vertical FOV and 58 degrees horizontal FOV. Simple geometry shows is about ~ 0.75 mm per pixel x by y at 50 cm, and ~ 3 mm per pixel x by y at 2 m.
- Depth resolution: ~ 1.5 mm at 50 cm. About 5 cm at 5 m.
- Noise: About +-1 DN at all depths, but DN to depth is non-linear. This means +-1 mm close, and +- 5 cm far.
There are official specs from the sensor developer, not from Microsoft. No scientific papers that I know of yet. Plenty of investigations and experiments (see Google). The OpenKinect has a lot more discussion on these things than this site for now.