Microsoft® Azure Kinect™

Type: Time of flight
Depth Range: 0.25 to 5.46 m
3D Resolution: Narrow Mode: 6540x576; Wide Mode: 1024x1024
RGB Resolution: 4096x3072
Frame Rate: 30 fps
Latency: 12.8 ms minimum
FOV: Narrow Mode - 75° H, 65° V; Wide Mode - 120° H, 129° V
Physical dims: 103mm(W) x 125.4mm(L) x39mm(H)
Operating Environment: 10° - 25°C; 8%-90% relative humidity
Interface: USB-C
Link to ROS Driver
Hardware Specification
Notes: ROS2 and ARM64 support Coming Fall 2020
Latency with ROS is multiple frames
Supports 3D Body Tracking -> ROS Marker
Passive cooling
Supports hardware frame synchronization between multiple cameras
Has a 7 Element Microphone Array
Supports body mounting by removing outer cover
.

ifm O3X100

Type: Time of flight
3D Resolution: 224 x 172
RGB Resolution: N/A
Depth Range: 0.05-3.0 m
Frame Rate: Frame Rate: 20fps (max value – depends on configuration)
Latency: 1 frame
FOV: 60° V, 45° H
Physical Dims: 80mm x 43.5mm x 21mm
Interface: Ethernet
Link to ROS Driver
Link to ROS2 Driver
Notes: Accuracy +/-5 mm. IP50 industrial enclosure.

Stereolabs® ZED™

Type: Embedded stereo
3D Resolution: 2208 x 1242 max
RGB: 2208 x 1242 max
Depth Range: 1.5 to 20 m
Frame Rate: 15 fps at max res., 120 fps at VGA res.
Latency: 1 frame
FOV: 96° H, 54° V
Physical Dims: 175x30x33 mm
Interface: USB 3.0
Link to ROS Driver
Notes: Latency not confirmed.

Carnegie Robotics® MultiSense™ S7

Type: Embedded stereo
3D Resolution: 2048 x 1088
RGB Resolution: 2048 x 1088 max (7.5 fps)
Depth Range: 0.4 m to infinity
Frame Rate: 15 fps at 2048 x 544
Latency: 1 frame
FOV: 80° H, 45° V
Physical Dims: 130x130x65 mm
Interface: Ethernet
Link to ROS Driver
Notes: IP68 enclosure.

Ensenso® N35-606-16-BL

Type: Structured light
3D Resolution: 1280 x 1024
RGB: 1280 x 1024
Frame Rate: 10 fps
Latency: 1 frame
FOV: 58° H, 52° V
Physical Dims: 175x50x52 mm
Interface: Ethernet
Link to PCL/ROS Driver
Notes: Many other resolutions and FOVs available. IP65/67 enclosure available.

SICK® Visionary-T™

Type: Time of flight
3D Resolution: 144 x 176
RGB: N/A
Frame Rate: 30 fps
Latency: 66 msec
FOV: 69° H, 56° V
Physical Dims: 162x93x78 mm
Interface: Ethernet
Link to ROS Driver
Notes: IP67 enclosure

e-Con Systems Tara Stereo Camera

Type: Embedded Stereo Camera
3D Resolution: 752 x 480
RGB: N/A
Frame Rate: 60 fps
Latency: 1 Frame
FOV: 60° H
Physical Dims: 100x30x35 mm
Interface: USB 3.0
Link to ROS Driver
Notes: Inbuilt IMU

Nerian SceneScan

Type: FPGA Stereo Camera
3D Resolution: 1856 x 1856 max
RGB: 1856 x 1856 max
Frame Rate: 100 fps
Latency: 1 Frame
FOV: Variable
Physical Dims: 144x41x35 mm with Karmin2 stereo camera
Interface: USB 3.0 to cameras, Gigabit Ethernet to Host
Link to API
Link to ROS Driver

Nerian Scarlet 3D Depth Camera

Type: Embedded Stereo Camera
3D Resolution: up to 2432 × 2048 pixels (5 megapixels)
Greyscale resolution: up to 2432 × 2048 pixels (5 megapixels)
Frame Rate: up to 120 fps
Depth Range: 0.14m up to infinity
FOV: up to 80° horizontal; 95° diagonal
Physical Dims: 320 × 68 × 148 mm for 25 cm baseline; 217 × 68 × 161 mm for 10 cm baseline
Interface: 1G Ethernet, 10G Ethernet
Notes: IP67, onboard IMU

Link to ROS Driver

Intel® RealSense™ Camera D405

Type: Stereo
3D Resolution: 1280 x 720 max
RGB: 1280 x 720 max, Left Imager with ISP
Depth Range: 0.07 to 0.5 m, with accuracy stated as +/- 2% at 50cm
Frame Rate: Up to 90 fps.
Latency: not noted
Depth FOV: 87° × 58° (+/-3°)
RGB FOB: 87° × 58° (+/- 3°)
Physical Dims: 36.5 mm × 19.4 mm × 10.5 mm
Interface: USB 2, 3.1
Link to ROS Driver
Notes: Latency not confirmed. On board depth compute using Intel RealSense Vision Processor D4

Intel® RealSense™ Camera D415

Type: Active IR Stereo
3D Resolution: 1280 x 720 max
RGB: 1920 x 1080 max
Depth Range: 0.3 to 10 m
Frame Rate: 30 fps at max depth resolution; up to 90fps at lower depth resolution; 30 fps at max rgb res.
Latency: not noted
Depth FOV: 63.4° x 40.4° (+/-3°)
RGB FOB: 69.4° x 42.5° x 77° (+/- 3°)
Physical Dims: 99 mm x 20 mm x 23 mm
Interface: USB-C 3.1 Gen 1
Link to ROS Driver
Notes: Latency not confirmed. On board depth compute using Intel RealSense Vision Processor D4

Intel® RealSense™ Camera D435

Type: Active IR Stereo using Global Shutter Sensors
3D Resolution: 1280 x 720 max
RGB: 1920 x 1080 max
Depth Range: 0.105 to 10 m
Frame Rate: 30 fps at max depth resolution; up to 90fps at lower depth resolution; 30 fps at max rgb res.
Latency: not noted
Depth FOV: 85.2° x 58° (+/-3°)
RGB FOB: 69.4° x 42.5° x 77° (+/- 3°)
Physical Dims: 99 mm x 25 mm x 25 mm
Interface: USB-C 3.1 Gen 1
Link to ROS Driver
Notes: Latency not confirmed. On board depth compute using Intel RealSense Vision Processor D4

Intel® RealSense™ Camera D435i

Type: Active IR Stereo using Global Shutter Sensors and IMU
3D Resolution: 1280 x 720 max
RGB: 1920 x 1080 max
Depth Range: 0.105 to 10 m
Frame Rate: 30 fps at max depth resolution; up to 90fps at lower depth resolution; 30 fps at max rgb res.
Latency: not noted
Depth FOV: 85.2° x 58° (+/-3°)
RGB FOB: 69.4° x 42.5° x 77° (+/- 3°)
Physical Dims: 99 mm x 25 mm x 25 mm
Interface: USB-C 3.1 Gen 1
Link to ROS Driver
Notes: Latency not confirmed. On board depth compute using Intel RealSense Vision Processor D4. Combines depth sensing of D435 with an IMU.

Intel® RealSense™ Camera D455

Type: Active IR Stereo using Global Shutter Sensors and IMU
3D Resolution: 1280 x 720 max
RGB: 1280 x 800 max
Depth Range: 0.052 to 10 m
Frame Rate: 30 fps at max depth resolution; up to 90fps at lower depth resolution; 30 fps at max rgb res.
Latency: not noted
Depth FOV: 87° x 58° (+/-3°)
RGB FOV: 90° x 65° (H X V)
Physical Dims: 124 mm × 26 mm × 29 mm
Interface: USB-C 3.1 Gen 1
Link to ROS Driver
Notes: Latency not confirmed. On board depth compute using Intel RealSense Vision Processor D4. Longer range. Improved output stability.

Intel® RealSense™ Tracking Camera T265

Type: Standalone inside-out 6DOF tracking and Visual SLAM solution
Technology: Technology: Visual SLAM, part of Intel® RealSense™ Technology
Processor: Intel® Movidius™ Myriad™ 2.0 VPU
Cameras: Two Fisheye lenses with combined 163±5° FOV
IMU: BMI055
Latency: not noted
Output: 6DOF pose @200Hz
Mechanical: 2 x M3 0.5mm pitch mounting sockets
Physical Dims: 108 mm x 24.5 mm x 12.5 mm
Interface: USB 3.1 Gen 1 Micro B (USB2.0 supported)
Link to ROS Driver
Notes: Integrates wheel odometry

Intel® RealSense™ Camera L515

Type: Laser Scanning LIDAR
Processor: Intel RealSense Vision ASIC
Range: .25 m to 9 m
Depth FOV: 70° × 55° (±3°)
Depth Resolution: Up to 1024 × 768
RGB FOV: 70° × 43° (±3°)
RGB Resolution: 1920 × 1080
Frame Rate: 30 fps
Physical Dims: 61 mm × 26 mm
Interface: USB‑C 3.1 Gen 1
Link to ROS Driver
Notes: Indoor use only. Though discontinued, Intel still has a large number of units in stock available for sale, and still supporting and warranting the camera.

Sense Photonics SenseOne

Type: Time of Flight
Depth Range: 0.5m-10m
3D Resolution: 0.28 degrees Horizontal x 0.28 degrees Vertical
Range Accuracy: +/- 0.5cm
FOV: 100x75, 80x60, 80x30
Latency: 50 ms
Physical Dims: 140 mm x 184 mm x 187 mm
Interface: Internet-GigE
Notes: IP67

FRAMOS Depth Camera D435e

Type: Active IR Stereo using Global Shutter Sensors
3D Resolution: 1280 x 720 max
Max Range: 10 meter
Min Depth: 200 mm
Max RGB Frame Rate: 30 fps
Max RGB Resolution: 1920 x 1080
FOV Vertical: 57
FOV Horizontal: 86
IP Protection Class: IP66
Mechanical: 2 x M3 0.5mm pitch mounting sockets
Physical Dims: 108 mm x 24.5 mm x 12.5 mm
Interface: Ethernet M12 (GigEVision)
[Link to Software Documentation]
Notes: Provided FRAMOS Driver, POE option

Orbbec® Astra Mini™

Type: Structured Light
3D Resolution: 640 x 480 max
RGB: 640 x 480 max
Depth Range: 0.6 m to 5.0 m
Frame Rate: 30 fps
Latency: 1 frame
FOV: 73 D x 60 H x 49.5 V
Physical Dims: 80 x 20 x 20 mm
Interface: <2.4w data-preserve-html-node="true" USB
Link to ROS Driver
Notes: Optional metal enclosure available. Handle with care without an enclosure, deflection can cause issues with performance. Excessive heat can cause issues. Performance comparable to Asus Xtion.

Photoneo® PhoXi® 3D Scanner L

Type: Structured Light
Depth Map/Point Cloud Resolution: 0.8-3.2M Points
Depth Range: 870-2150 mm
Frame Rate: 2.5-5 fps
Latency: 1 frame
FOV: 1100 x 800 x 900 mm
Physical Dims: 77 x 68 x 616 mm
Interface: Gigabit Ethernet
Link to API with ROS Support
Notes: Data Acquisition Time: 200ms - 400ms Near metrology grade resolution. Comes in a variety of models. Operates in High Resolution or High Acquisition Modes.

roboception® rc_visard™

Type: Stereo Camera
3D Resolution: 640 x 480 max
RGB: 1280 x 960 max
Depth Range: 0.2 m to 1.0 m for 65 Model, 0.5 m to 3.0 m for 160 Model
Frame Rate: 3-25 Hz
Latency: 1 frame
FOV: 61 H x 48 V
Physical Dims: 135 x 75 x 96 mm for 65 Model, 230 x 75x 84 mm for 160 Model
Interface: Ethernet
Link to ROS Driver
Notes: Weight 680g for 65 Model, 850g for 160 Model. Optional SLAM module. ROS Driver being developed further thanks to the support of the ROSIN EU project.

duo3d® DUO MC™

Type: Stereo Camera
3D Resolution: 752 x 480 max
RGB: 752 x 480 max
Depth Range: 0.23 m to 2.5 m for for M series
Frame Rate: 0.1-3000 fps Max
Latency: 1 frame
FOV: 170 W with 30 mm Baseline
Physical Dims: 57 x 30.5 x 14.7mm
Interface: 480 Mbps USB 2.0 Micro-B
Link to API
Link to ROS Driver

Notes: Pixel size 6 x 6 micrometers. Shutter Speed 0.3 microseconds to 1- seconds. Control Functions: Exposure, Shutter, Brightness. Enclosure 6021 Aircraft Grade Aluminium.

Zivid One+

Type: Structured Light
3D Resolution: 1920 x 1200 (2.3 Mpixel)
RGB: Color mapped 1:1 pixel with 3D data
Depth Range:

• Small: 300-800mm
• Medium: 600-1600mm
• Large: 1200-2600mm

Frame Rate: Up to 13 FPS burst
Latency: 80 ms
FOV:

• Small: 164 x 132 @ 0.3m; 621 x 439 @ 1.0m
• Medium: 433 x 271 @ 0.6m; 1330 x 871 @ 2.0m
• Large: 843 x 530 @ 1.2m; 2069 x 1310 @ 3.0m

Physical Dims: 226 x 165 x 86 mm @ 2 KG Mass Interface: USB 3.0 (5m/10m/25m options) 24VDC
The latest ROS wrappers for Zivid can be found at https://github.com/zivid/zivid-ros Python API has been made available as open source at https://github.com/zivid/zivid-python
Notes:3D HDR, Artifact Reduction Technology, eye-safe white light; model specific data sheets: small, medium, large.

Zivid Two

Type: Structured Light
3D Resolution: 1944 x 1200 (2.3 Mpixel)
RGB: Color mapped 1:1 pixel with 3D data
Depth Range: 300-1200 mm (1500 mm max)
Frame Rate: Up to 13 FPS burst
Latency: 60 ms
FOV: 754 x 449 mm @ 0.7 m; 1426 x 894 mm @ 1.4 m
Physical Dims: 169 x 56 x 122 mm @ 880 Grams Mass
Rating: IP65
Interface: 10 GigE, 24VDC
The latest ROS wrappers for Zivid can be found at https://github.com/zivid/zivid-ros
Python API has been made available as open source at https://github.com/zivid/zivid-python
Notes: 112 mm baseline for minimal occlusion, 3D HDR, Artifact Reduction Technology, eye-safe white light

Zivid 2+

Type: Structured Light
3D Resolution: 2448 x 2048 (5.0 Mpixel)
RGB: Color mapped 1:1 pixel with 3D data
Depth Range:

• M60: 350-900mm
• M130: 1000-1400mm
• L110: 800-1400mm

Frame Rate: Up to 13 FPS burst
Typical Capture Time: 100 ms to 1 s
FOV:

• M60: 570 x 460 @ 0.6m; 1096 x 858 @ 1.1m
• M130: 481 x 406 @ 0.8m; 790 x 650 @ 1.3m
• L110: 1096 x 858 @ 1.1m; 1692 x 1324 @ 1.7m

Physical Dims: 169 x 124 x 56 mm @ 1 KG Mass Rating: IP65
Interface: 10 GigE, 24VDC
The latest ROS wrappers for Zivid can be found at https://github.com/zivid/zivid-ros Python API has been made available as open source at https://github.com/zivid/zivid-python
Notes: 3D HDR, Artifact Reduction Technology, Unified 3D+2D pixel to pixel data correspondence; model specific data sheets: M60, M130, L110.

Arcure Omega

Type: Stereo
Rating: IP69K
3D Resolution: 1280x1024 pixels
RGB: 1280x1024 pixels
Depth Range: Min: 30 cm; Max 50 m
Frame Rate: 60 fps max full frame
Latency: 6600 LSB10/(Lux.s)
FOV: 120 (h) x 90 (v)
Physical Dims: 200 x 83 x 79 mm @ 1.2 KG mass
Interface: 0.4 GB Ethernet, 12V ROS Driver info pending

Notes: IMU on board. Specifications note rated for use down to -40C. Complies with ISO 13766 2006 for Earth-Moving Machinery Electromagnetic.

Basler ToF camera

Type: Time of flight
3D Resolution: 640x480
RGB: N/A
Depth Range: 0.5 to 0.8 m
Frame Rate: 20 fps
Latency: 1 frame
FOV: 57° H, 43° V
Physical Dims: 141.9 x 61.5 x 68.4 mm
Interface: GigE
Link to ROS Driver

MYNT EYE

Type: Stereo Camera
3D Resolution: 752x480
RGB: N/A
Depth Range: 0.5 to 18 m
Frame Rate: 60 fps
Latency: 1 frame
FOV: 146° D, 122° H, 76° V
Physical Dims: 141.9 x 61.5 x 68.4 mm
Interface: USB 3.0
Link to SDK
Notes:Six Axis IMU, 100/200/250/333/500 hz Frequency, IMU&Frame Sync: <1ms

Femto Bolt

Type: Time of flight
3D Resolution: Up to 1024 x 1024 @ 15 fps (WFOV), 576 x 640 @ 30 fps (NFOV)
RGB Resolution: From 960 x 1280 up to 2160 x 3840 (depends on FOV)
Depth Range: 0.25-5.46 m
Frame Rate: 5, 15, 25, 30 fps (depends on mode)
Latency:
FOV: 51° V, 80° H
Physical Dims: 115mm x 40mm x 65mm @ 0.335 KG Mass
Interface: USB 3.2 Type-C, Gen 1, 12VDC
Link to ROS Driver
Link to ROS 2 Driver
Notes: Accuracy < 11 mm + 0.1%, precision ≤ 17 mm. SDK Windows or Linux. 4K RGB with HDR, IMU 6DoF. Data sheet: Femto Bolt

Femto Mega

Type: Time of flight
3D Resolution: Up to 1024 x 1024 @ 15 fps (WFOV), 576 x 640 @ 30 fps (NFOV) (1.0 MPixel)
RGB Resolution: From 960 x 1280 up to 2160 x 3840 (depends on FOV)
Depth Range: 0.25-5.46 m
Frame Rate: 5, 15, 25, 30 fps (depends on mode)
Latency:
FOV: 51° V, 80° H
Physical Dims: 115mm x 40mm x 145mm @ 0.560 KG Mass
Interface: USB 3.2 Type-C/Ethernet PoE+, 12VDC
Link to ROS Driver
Link to ROS 2 Driver
Notes: Accuracy < 11 mm + 0.1%,precision ≤ 17 mm. Processor NVIDIA Jetson Nano, OS Windows or Linux. 4K RGB, IMU 6DoF. Data sheet: Femto Mega

Femto Mega I

Type: Time of flight
3D Resolution: 1.0 Mega Pixel
Snapshot Mode: Up to 1024 x 1024 @ 10 fps (WFOV), 576 x 640 @ 10 fps (NFOV)
Stream Mode: Up to 1024 x 1024 @ 15 fps (WFOV), 576 x 640 @ 30 fps (NFOV)
RGB Resolution: From 720 x 1280 up to 2160 x 3840 (depends on mode and format)
Depth Range: 0.25-3.86 m
Frame Rate: 5, 15, 25, 30 fps (depends on mode)
Latency:
FOV: 51° V, 80° H
Physical Dims: 180mm x 50mm x 115mm @ 1.08 KG Mass
Rating: IP65 Interface: Ethernet M12, PoE+, 12VDC
Link to ROS Driver
Link to ROS 2 Driver
Notes: Accuracy < 11 mm + 0.1%,precision ≤ 17 mm. Features Processor NVIDIA Jetson Nano, OS Windows or Linux. 4K RGB, IMU 6DoF. Data sheet: Femto Mega