Effects of camera viewing angles on tracking kinematic gait patterns using Azure Kinect, Kinect v2 and Orbbec Astra Pro v2

Abstract Background Depth sensors could be a portable, affordable, marker-less alternative to three-dimension motion capture systems for gait analysis, but the effects of camera viewing angles on their joint angle tracking performance have not been fully investigated. Research questions This study evaluated the accuracies of three depth sensors [Azure Kinect (AK); Kinect v2 (K2); Orbbec Astra (OA)] for tracking kinematic gait patterns during treadmill walking at five camera viewing angles (0°/22.5°/45°/67.5°/90°). Methods Ten healthy subjects performed fifteen treadmill walking trials (3 speeds × 5 viewing angles) using the three depth sensors to measure joint angles in sagittal hip, frontal hip, sagittal knee, and sagittal ankle. Ten walking steps were recorded and averaged for each walking trial. Range of motion in terms of maximum and minimum joint angles measured by the depth sensors were compared with the Vicon motion capture system as the gold standard. Depth sensors tracking accuracies were compared against the Vicon reference using root-mean-square error (RMSE) on the joint angle time series. Effects of different walking speeds, viewing angles, and depth sensors on the tracking accuracy were observed using three-way repeated-measure analysis of variance (ANOVA). Results ANOVA results on RMSE showed significant interaction effects between viewing angles and depth sensors, F(8,72) = 4.404, p = 0.005 for sagittal hip, F(8,72)=13.211, p  Significance Researchers should be cautious about camera viewing angle when using depth sensors for kinematic gait measurements. Our results demonstrated Azure Kinect had good tracking performance of sagittal hip and sagittal knee joint angles during walking tests at non-frontal camera viewing angles.