RGB-D depth cameras have the potential to become a key component for solving real-world problems. With the drop of sensor prices, they have become a commercial success and their popularity in the research community increased. Although many publications appeared in the last years, they are spread over a variety of conferences and workshops on computer vision, robotics, human-computer interaction, and augmented reality. This makes it difficult to assess the impact of RGB-D depth cameras and the progress in this field. The proposed tutorial intends to discuss the basics, underlying principles and cutting-edge results of a comprehensive list of topics in RGB-D perception.