Stereo Vision Systems: Difference between revisions

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==Comparison table==
==Comparison table with similar products==
{| class='wikitable'
{| class='wikitable'
<!--!style='text-align:left;'|Company
<!--!style='text-align:left;'|Company
Line 17: Line 17:
|-
|-
-->
-->
!style='text-align:left;'|3D Vision System
!style='text-align:left;'| 3D Vision System
| Elphel MNC393-XCAM
| Elphel MNC393-XCAM
| Reviewed competing products
| Reviewed competing products
Line 25: Line 25:
| 2015-2018
| 2015-2018
|-
|-
!style='text-align:left;'|Depth sensing technology
!style='text-align:left;'| Depth sensing technology
|  
|  
|  
|  
Line 32: Line 32:
|-
|-
!style='text-align:left;'| Depth range, m
!style='text-align:left;'| Depth range, m
| <font color='red' size='4'>'''10-5000'''</font>
| <font color='red' size='4'>'''10-5000m'''</font>
| <font color='red' size='4'>'''0.10-20'''</font>
| <font color='red' size='4'>'''0.1-20m'''</font>
|-
|-
!style='text-align:left;' valign='top'| Depth accuracy
!style='text-align:left;' valign='top'| Depth accuracy
|valign='top'|
|valign='top'|
Disparity accuracy is 0.05px:
* 1% at 100m
* 1% at 100m
* 5% at 500m
* 5% at 500m
Line 43: Line 44:
|  
|  
* Some do not have information
* Some do not have information
* The assumption is nobody can get below 0.5px disparity
* Passive systems (no IR), best:  
* Passive systems (no IR), best:  
** 1.5% at 10m
** 1.5% at 10m
Line 52: Line 54:
** 1% at 1m
** 1% at 1m
** 9% at 10m
** 9% at 10m
|-
!style='text-align:left;'| Depth Processing
| Post-processing (real-time - future development)
| Post-processing or real-time (mostly)
|-
|-
!style='text-align:left;'| Number of image sensors
!style='text-align:left;'| Number of image sensors
Line 62: Line 68:
|-
|-
!style='text-align:left;'| IR projectors
!style='text-align:left;'| IR projectors
| no
| not used
| some have, some don't
| some have, some don't
|-
!style='text-align:left;'| Framerate
| up to 10fps recording in high quality
|
* ZED Mini: varies from 15fps @4k to 100fps @1344x376
* Others are somewhat similar
|-
!style='text-align:left;'| Output interfaces
|
* 1 GigE
* USB2
* eSATA (external storage)
* internal storage (m.2 SSD)
* Possible to precisely sync multiple systems
|valign='top'|
* some have 1 GigE
* most - USB3
|-
!style='text-align:left;'| Position and orientation
|
* GPS
* Compatible with Analog Devices IMUs: up to 2460Hz
|valign='top'| some have IMU (100-500Hz), but most don't
|-
!style='text-align:left;'| Image sensor shutter type
| ERS (Electronic Rolling Shutter)
| ERS or Global
|-
!style='text-align:left;'| Output format
|
3D model:
* OBJ with textures
* X3D with textures
|
* RGBD
* Unknown
* Z-map
|-
!style='text-align:left;'| Color
| Color
|
* Color (most)
* Mono
* 2 Mono + 1 Color
|-
!style='text-align:left;'| Full Hardware setup
|
* Some laptop when recording (network GUI - only browser, no extra drivers)
* Good PC (+NVidia GPU) when processing
|
* Some require PC with extra drivers or other software
* Some require PC with extra drivers or other software + good NVidia GPU (like ZED)
|-
|}
==Advantages over LIDARs==
{| class='wikitable'
!style='text-align:left;'| Product
|align='center'| Elphel MNC393-XCAM
|align='center'| Reviewed LIDARs (Velodyne, Ouster)
|-
!style='text-align:left;'| Range
|align='center'| <font color='red' size='4'>'''10-5000m'''</font>
|align='center'| <font color='red' size='4'>'''<200m'''</font>
|-
!style='text-align:left;'| Field of View
|align='center'| <font color='red' size='4'>'''65&deg;x51&deg;'''</font>
|align='center'| <font color='red' size='4'>'''360&deg;x(30-40&deg;)'''</font>
|-
!style='text-align:left;' colspan='3'| Points sparsity (horizontal x vertical):
|-
!style='text-align:left;'| @10m
|align='center'| ~ 0.05x0.05 cm
|align='center'| ~ 2x6 cm
|-
!style='text-align:left;'| @50m
|align='center'| ~ 0.25x0.25 cm
|align='center'| ~ 10x30 cm
|-
!style='text-align:left;'| @100m
|align='center'| ~ 0.5x0.5 cm
|align='center'| ~ 20x60 cm
|-
!style='text-align:left;'| @200m
|align='center'| ~ 1x1 cm
|align='center'| ~ 40x120 cm
|-
!style='text-align:left;'| @1000m
|align='center'| ~ 5x5 cm
|align='center'|
|-
!style='text-align:left;'| @2000m
|align='center'| ~ 10x10 cm
|align='center'|
|-
|-
|}
|}
Typical LIDAR angular resolutions are:
* horizontal: 0.1-0.4&deg;
* vertical:  0.3-0.5&deg;


==Links==
==Links==

Latest revision as of 20:26, 5 October 2018

Comparison table with similar products

3D Vision System Elphel MNC393-XCAM Reviewed competing products
Released 2018 2015-2018
Depth sensing technology
  • Active IR and projected pattern variations or
  • SLAM variations
Depth range, m 10-5000m 0.1-20m
Depth accuracy

Disparity accuracy is 0.05px:

  • 1% at 100m
  • 5% at 500m
  • 10% at 1000m
  • 20% at 2000m
  • Some do not have information
  • The assumption is nobody can get below 0.5px disparity
  • Passive systems (no IR), best:
    • 1.5% at 10m
    • 17.5% at 100m
  • Active systems, best (ZiVID):
    • 0.1mm @ 0.6m but the range is 0.6-1.1m
  • HTC VIVE: 5% @ 2m (info by StereoLabs)
  • ZED Mini by StereoLabs:
    • 1% at 1m
    • 9% at 10m
Depth Processing Post-processing (real-time - future development) Post-processing or real-time (mostly)
Number of image sensors 4 (square) 1-2
Stereo baseline, mm 250 (diagonal) from single lens to 63-250
IR projectors not used some have, some don't
Framerate up to 10fps recording in high quality
  • ZED Mini: varies from 15fps @4k to 100fps @1344x376
  • Others are somewhat similar
Output interfaces
  • 1 GigE
  • USB2
  • eSATA (external storage)
  • internal storage (m.2 SSD)
  • Possible to precisely sync multiple systems
  • some have 1 GigE
  • most - USB3
Position and orientation
  • GPS
  • Compatible with Analog Devices IMUs: up to 2460Hz
 some have IMU (100-500Hz), but most don't
Image sensor shutter type ERS (Electronic Rolling Shutter) ERS or Global
Output format

3D model:

  • OBJ with textures
  • X3D with textures
  • RGBD
  • Unknown
  • Z-map
Color Color
  • Color (most)
  • Mono
  • 2 Mono + 1 Color
Full Hardware setup
  • Some laptop when recording (network GUI - only browser, no extra drivers)
  • Good PC (+NVidia GPU) when processing
  • Some require PC with extra drivers or other software
  • Some require PC with extra drivers or other software + good NVidia GPU (like ZED)

Advantages over LIDARs

Product Elphel MNC393-XCAM Reviewed LIDARs (Velodyne, Ouster)
Range 10-5000m <200m
Field of View 65°x51° 360°x(30-40°)
Points sparsity (horizontal x vertical):
@10m ~ 0.05x0.05 cm ~ 2x6 cm
@50m ~ 0.25x0.25 cm ~ 10x30 cm
@100m ~ 0.5x0.5 cm ~ 20x60 cm
@200m ~ 1x1 cm ~ 40x120 cm
@1000m ~ 5x5 cm
@2000m ~ 10x10 cm

Typical LIDAR angular resolutions are:

  • horizontal: 0.1-0.4°
  • vertical: 0.3-0.5°

Links

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