MobileRanger C3D Stereo Camera

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MobileRanger stereo camera in weatherproof housing for outdoor use
MobileRanger stereo camera in indoor housing
MobileRanger's nDepth stereo processing board

MobileRanger stereovision systems provide depth range sensing, with no software processing required. The system performs initial depth calculations on the Focus Robotics nDepth FPGA on a PC104+ card, reserving the robot's computing resources for other tasks.

All output from the processor is sent via direct memory access (DMA) to the PC. The undistorted and rectified (calibrated) images, along with the depth image, can also be sent every frame if desired.

See MobileRanger C3D Stereo Camera Data for a brief description of what kind of image data is returned from the MobileRanger/nDepth card.

(To access color information, we recommend an additional light-weight single-lens, color digital camera.)

The camera unit may be mounted on an adjustable fixed position mount, or a servo-controlled Directed Perception Pan/Tilt Unit.

The MobileRanger camera unit may be optionally housed in a weatherproof housing for outdoor applications.

Introduced
September 2008
Sales Codes
ACA0195 (with pan tilt), ACA0196 (without pan tilt)
Drivers and Software
See MobileRanger C3D Stereo Camera Software

Specifications

nDepth Processor

Resolution 752 X 480 (WVGA)
Disparity Frame Rate 30 frames per second with 92 disparity levels
Disparity Range 64
Camera Calibration Calibration generated at the factory. The processor rectifies and undistorts images in real time
Calibration Error 0.1 pixel RMS
Stereo Algorithm Sum of Absolute Differences (SAD) with 9x9 block matching
Left/Right Check Identifies places where correlation is contradictory and thus uncertain
Host Interface PCI (33 MHz) PC/104+ card with DMA access

6cm Baseline Stereo Camera

Resolution (each camera left/right) 752x480 1/3-inch wide VGA CMOS digital image sensor
Frame Rate Up to 60 frames per second
Baseline 6cm. Other baselines may also be available
Mounting Includes three standard camera tripod mounting points
Image Format Monochrome near-ir enhanced
Dynamic Range >60dB
Analog to Digital Conversion 10 bit
Shutter Type Global shutter photodiode pixels; simultaneous integration and readout
Interface LVDS on CAT6 cable (up to 5m) connects to nDepth PCI card
Focal Lens Length 2.9mm.
Field of View 75 deg.horizontal X 52 deg. vertical
Power Supply Supplied via same CAT6 cable from nDepth PCI card
Power Consumption <500mW (when at maximum data rate)
Dimensions (indoor housing) 4.25 inches X 1.5 inches X 1.25 inches
Dimensions (outdoor housing) 4.88 inches X 3.75 inches X 2.5 inches



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