Abstract: This paper presents a multi-view acquisition system using multi-modal sensors, composed of time-of-flight (ToF) range sensors and color cameras. Our system captures the multiple pairs of color images and depth maps at multiple viewing directions. In order to ensure the acceptable accuracy of measurements, we compensate errors in sensor measurement and calibrate multi-modal devices. Upon manifold experiments and extensive analysis, we identify the major sources of systematic error in sensor measurement and construct an error model for compensation. As a result, we provide a practical solution for the real-time error compensation of depth measurement. Moreover, we implement the calibration scheme for multi-modal devices, unifying the spatial coordinate for multi-modal sensors. The main contribution of this work is to present the thorough analysis of systematic error in sensor measurement and therefore provide a reliable methodology for robust error compensation. The proposed system offers a real-time multi-modal sensor calibration method and thereby is applicable for the 3D reconstruction of dynamic scenes.