Table 1.
Key specification and data volume of the cameras used in the primary sensing unit.
| RGB-D camera | Thermal camera | Hyperspectral camera | |
|---|---|---|---|
| Manufacturer | Microsoft | FLIR | Middleton Spectral Vision |
| Model | Kinect for Windows v2 | A655sc | MRC-923-001 |
| Scanning mode | Area scan | Area scan | Line scan |
| Field of view | 70° × 60° | 80° × 64.4° | 55.9° |
| Data type | 16-bit unsigned integer (depth) 32-bit unsigned integer (color) |
32-bit single precision | 16-bit unsigned integer |
| Spectral range | Visible (color), 827–850 nm (depth) | 7.5–14 μm | 400–1000 nm |
| Image resolution | 512 × 424 (depth) 1920 × 1080 (color) |
640 × 480 | 640(spatial) × 236(spectral) |
| Image size | 0.42 MB (depth) 8 MB (color) |
1.18 MB | 0.29 MB |
| Designed frame rate (maximum) | 6 (30) FPS (depth) 6 (30) FPS (color) |
6 (30) FPS | 100 (200) FPS |
| Data volume (maximum) | 2.52 (12.6) MB/s (depth) 48 (240) MB/s (color) |
7.08 (35.4) MB/s | 29 (58) MB/s |
| Total data volume per second | 86.6 (346) MB/s | ||