Augmented reality with PCL+KinectFusion

My demo video was put on the PCL blog at 
http://www.pointclouds.org/news/augmented-reality-with-kinect-fusion.html
This video demonstrates markerless augmented reality based on Point Cloud Library(PCL) and Kinect. Kinect camera can provide remarkably high quality depth map given the cost of the device. Thanks to the depth map, a lot of complicated problems in indoor augmented reality are simplified.
Early this year, Microsoft proposed the KinectFusion project, which showed great potential in augmented reality. Then, the open-source implement of KinectFusion was released by PCL. On the basis of the open-source project, I transplanted the rendering part of the implement to XNA to make it possible for future development of AR games or other AR applications.
The second video shows the capability of handling occlusion between the real scene and virtual objects.