I'll be curious to see how this was done. We talked about it and did a lot of research into how Kinect works. It's fascinating the way it projects a matrix of dots on to the surfaces in the room.
Here is an interesting article on it:
http://electronicdesign.com/content/...tpath/embedded
If you have an old video camera with a night-shot mode on it, you can clearly see the dot patterns in a darkened room.
The thing that worried us was the possibility that other robots were doing the same thing on the field and the IR dots would interfere. From our understanding of how the Kinect works, two Kinects would mess each other up pointing at the same surfaces. This didn't turn out to be that much of a concern because virtually no one we saw used Kinect on the robot except 987 (and 639...sorry). But I would be curious to know if they had the same concerns or just assumed they'd be OK because they predicted no one else would pull it off.