MobileRanger C3D Stereo Camera
From MobileRobots Research and Academic Customer Support
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 |
