Table 2.
General specifications of stereo cameras from various manufacturers that we reviewed from our initial findings. The acronyms from left to right (in second row) are horizontal field-of-view (HFOV); vertical field-of-view (VFOV); frames per second (FPS); image resolutions in megapixels (Img Res); depth resolutions (Res); depth frames per second (FPS); and reference (Ref). The “-” symbol in table below indicates that the specifications were not mentioned in product datasheet.
| Depth Information | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| Model | Baseline (mm) | HFOV (°) | VFOV (°) | FPS (Hz) | Range (m) | Img Res (MP) | Range (m) | Res (MP) | FPS (Hz) | Ref | |
| Roboception | RC Visard 160 | 160 | 61 * | 48 * | 25 | 0.5–3 | 1.2 | 0.5–3 | 0.03–1.2 | 0.8–25 | [40,41] |
| Carnegie Robotics® | MultiSense™ S7 1 | 70 | 80 | 49/80 | 30 max | - | 2/4 | 0.4 min | 0.5–2 | 7.5–30 | [40,42,43] |
| MultiSense™ S21B 1 | 210 | 68–115 | 40–68 | 30 max | - | 2/4 | 0.4 min | 0.5–2 | 7.5–30 | [40,44] | |
| Ensenso | N35-606-16-BL | 100 | 58 | 52 | 10 | 4 max | 1.3 | - | [40,45] | ||
| Framos | D435e | 55 | 86 | 57 | 30 | 0.2–10 | 2 | 0.2 min | 0.9 | 30 | [40,46] |
| Nerian | Karmin3 2 | 50/100/250 | 82 | 67 | 7 | - | 3 | 0.23/0.45/1.14 min | 2.7 | - | [40,47] |
| Intel RealSense | D455 | 95 | 86 | 57 | 30 | 20 max | 3 | 0.4 min | ≤1 | ≤90 | [40,48] |
| D435 | 50 | 86 | 57 | 30 | 10 max | 3 | 0.105 min | ≤1 | ≤90 | ||
| D415 | 55 | 65 | 40 | 30 | 10 max | 3 | 0.16 min | ≤1 | ≤90 | ||
| Flir® | Bumblebee2 3 | 120 | 66 | - | 48/20 | - | 0.3/0.8 | - | [40,49] | ||
| Bumblebee XB3 3 | 240 | 66 | - | 16 | - | 1.2 | [50,51] | ||||
1 HFOV, VFOV, image resolutions, image frame rates and depth information depend on the variant of focal length (optical lens geometry). 2 Specifications stated are in full resolution and monochrome, focusing on the standard 4 mm lens. 3 Offers either 2.5 mm, 3.8 mm or 6 mm lenses (specifications focus on 3.8 mm lens) but product no longer being produced or offered (discontinued). * A 6 mm lens has a HFOV of 43° and a VFOV of 33°.