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. 2024 Feb 2;24(3):987. doi: 10.3390/s24030987

Table 4.

The specification of hardware device.

Device Specification
Depth Camera
(Intel RealSense D435i)
  • -

    Use environment: Indoor/Outdoor

  • -

    Baseline (mm): 50

  • -

    Resolution: 1920 × 1080 px

  • -

    Frame rate: 30 fps

  • -

    Sensor FOV (H × V × D): 69.4o × 42.5 × 77 (±3)

  • -

    Dimensions: 90 × 25 × 25 mm

  • -

    Connection: USB-C 3.1 Gen1
Single Board Computer
(Jetson Nano)
  • -

    GPU: 128-Core Maxwell

  • -

    CPU: Quad-core ARM Cortex-A57 CPU

  • -

    RAM: 4 GB 64-bit LPDDR4 25.6 GB/s

  • -

    Storage: microSD card slot for storage (256 GB)

  • -

    USB: 4 × USB 3.0 ports, USB 2.0 Micro-B

  • -

    Networking: Gigabit Ethernet

  • -

    Wireless: Optional Wi-Fi/Bluetooth module

  • -

    Operating System: Supports NVIDIA’s Linux-based operating system

  • -

    Power: 5V/4A power supply
Host Computer
(Jetson Orin)
  • -

    GPU: NVIDIA Ampere architecture with 2048 NVIDIA® CUDA® cores and 64 Tensor Cores

  • -

    CPU: 12-core Arm® Cortex®-A78AE v8.2 64-bit, CPU

  • -

    RAM: 64 GB 256-bit LPDDR5, 204.8 GB/s

  • -

    Storage: 64 GB eMMC 5.1 storage

  • -

    USB: Up to 2 × 8, 1 × 4, 2 × 1 (PCIe Gen4, Root Port and Endpoint), 3 × USB 3.2

  • -

    Networking: 1 × GbE, 1 × 10 GbE

  • -

    Operating System: Supports various Linux distributions

  • -

    Power: 15 W–60 W