Difference between revisions of "Stereo Vision Systems"

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==Links==
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==Comparison table with similar products==
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* [https://community.elphel.com/files/quad-stereo/StereoVisionCameras_v2.ods StereoVisionCameras_v2.ods] (1st tab - cameras, 2nd tab - LIDARs)
 
−
** [https://xinreality.com/wiki/Cameras More on cameras (xinreality.com)]
 
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** [https://www.dronezon.com/learn-about-drones-quadcopters/best-lidar-sensors-for-drones-great-uses-for-lidar-sensors/ More on LIDARs (dronezon.com)]
 
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* [http://www.ti.com/lit/wp/sloa190b/sloa190b.pdf Time-of-Flight sensors (2014 TI article)]
 
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==Comparison table==
 
 
{| class='wikitable'
 
{| class='wikitable'
−
!colspan='20' style='text-align:left;color:royalblue'| GENERAL
 
−
|-
 
 
<!--!style='text-align:left;'|Company
 
<!--!style='text-align:left;'|Company
 
| [[File:mnc393-x_sm.jpeg|100px]]
 
| [[File:mnc393-x_sm.jpeg|100px]]
Line 25: Line 17:
 
|-
 
|-
 
-->
 
-->
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!style='text-align:left;'|Company
+
!style='text-align:left;'| 3D Vision System
−
| Elphel
+
| Elphel MNC393-XCAM
−
| Intel
+
| Reviewed competing products
−
| Intel
 
−
| StereoLabs
 
−
| StereoLabs
 
−
| MyntAI
 
−
| ZiVID
 
−
| Ensenso
 
−
| Ensenso
 
−
| Nerian
 
−
| HTC
 
−
| FLIR
 
−
| e-con Systems
 
−
|-
 
−
!style='text-align:left;'|Product
 
−
| MNC393-XCAM
 
−
| D415
 
−
| D435
 
−
| ZED
 
−
| ZED Mini
 
−
| MYNTEYE S1030-IR
 
−
| ZiVID 3D camera
 
−
| N30/N35
 
−
| X30/X36
 
−
| Karmin2
 
−
| VIVE Pro VR headset
 
−
| Bumblebee XB3
 
−
| Tara
 
 
|-
 
|-
 
!style='text-align:left;'|Released
 
!style='text-align:left;'|Released
 
| 2018
 
| 2018
−
| Jan 2018
+
| 2015-2018
−
| Jan 2018
+
|-
−
| Jun 2016?
+
!style='text-align:left;'| Depth sensing technology
−
| Nov 2017
+
|  
−
| 2018
+
|  
−
| Apr 2018
+
* Active IR and projected pattern variations '''or'''
−
| Dec 2015
+
* SLAM variations
−
| Nov 2017
+
|-
−
| Nov 2017
+
!style='text-align:left;'| Depth range, m
−
| Jan 2018?
+
| <font color='red' size='4'>'''10-5000m'''</font>
−
| pre 2014?
+
| <font color='red' size='4'>'''0.1-20m'''</font>
−
| Jul 2016
+
|-
 +
!style='text-align:left;' valign='top'| Depth accuracy
 +
|valign='top'|
 +
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
 
|-
 
|-
−
!colspan='20' style='text-align:left;color:royalblue;'| STEREO SETUP
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!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
 
| 4 (square)
 
| 4 (square)
−
| 2
+
| 1-2
−
| 2
 
−
| 2
 
−
| 2
 
−
| 2
 
−
| 2
 
−
| 1
 
−
| 2
 
−
| 2
 
−
| 2
 
−
| 2
 
−
| 2
 
 
|-
 
|-
 
!style='text-align:left;'|Stereo baseline, mm
 
!style='text-align:left;'|Stereo baseline, mm
−
| 250
+
| 250 (diagonal)
−
| ?
+
| from single lens to 63-250
−
| ?
 
−
| 120
 
−
| 63
 
−
| 120
 
−
| ?
 
−
| ?
 
−
| 200, 400
 
−
| 100, 250
 
−
| ~65?
 
−
| 120, 240
 
−
| ?
 
 
|-
 
|-
−
!style='text-align:left;'|Depth range, m
+
!style='text-align:left;'| IR projectors
−
| 10-5000
+
| not used
−
| 0.16-10+
+
| some have, some don't
−
| 0.105-10+
+
|-
−
| 0.5-20
+
!style='text-align:left;'| Framerate
−
| 0.15-12
+
| up to 10fps recording in high quality
−
| 1-20
+
|
−
| 0.6-1.1
+
* ZED Mini: varies from 15fps @4k to 100fps @1344x376
−
| <3
+
* Others are somewhat similar
−
| ?
+
|-
−
| 250mm: 1.5%@10m, 17.5%@100m
+
!style='text-align:left;'| Output interfaces
−
| 3%@1m, 5%@2m
+
|  
−
| link
+
* 1 GigE
−
| 0.5-3
+
* 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==
 +
* [https://community.elphel.com/files/quad-stereo/StereoVisionCameras_v2.ods StereoVisionCameras_v2.ods '''(internal use only)'''] (1st tab - cameras, 2nd tab - LIDARs)
 +
* [https://xinreality.com/wiki/Cameras More on cameras (xinreality.com)]
 +
* [https://www.dronezon.com/learn-about-drones-quadcopters/best-lidar-sensors-for-drones-great-uses-for-lidar-sensors/ More on LIDARs (dronezon.com)]
 +
* [http://www.ti.com/lit/wp/sloa190b/sloa190b.pdf Time-of-Flight sensors (2014 TI article)]

Latest revision as of 12:26, 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

Retrieved from "https://wiki.elphel.com/index.php?title=Stereo_Vision_Systems&oldid=16253"