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I played around with this a bit, both with a Kinect and with an Asus Xtion Pro Live, and I wasn't able to get either to work.

The Kinect appeared to have problems enumerating properly on the USB bus, and tended to cause the kernel on my Beaglebone Black to crash or lock up.

The Asus seemed to enumerate OK, but isn't supported by libfreenect, and I didn't have time to try a modified driver with it.

I played around with this a bit, both with a Kinect and with an Asus Xtion Pro Live, and I wasn't able to get either to work.

The Kinect appeared to have problems enumerating properly on the USB bus, and tended to cause the kernel on my Beaglebone Black to crash or lock up.

The Asus seemed to enumerate OK, but isn't supported by libfreenect, and I didn't have time to try a modified driver with it.

EDIT:

I've since gotten the Kinect to work with the freenect drivers on one of my other ARM boards, and I've heard other users have had good luck using the OpenNI2 drivers with the Asus Xtion.