Stereo Vision Systems: Difference between revisions

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==Links==
==Comparison table with similar products==
* [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)]
** [https://www.dronezon.com/learn-about-drones-quadcopters/best-lidar-sensors-for-drones-great-uses-for-lidar-sensors/ More on LIDARs (dronezon.com)]
 
==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 24: 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
!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
| 3
| 3
| 2
| 2
| 2
| 2
|-
|-
!style='text-align:left;'|Stereo baseline, mm
!style='text-align:left;'|Stereo baseline, mm
| 150
| 250 (diagonal)
| ?
| from single lens to 63-250
| ?
|-
| 120
!style='text-align:left;'| IR projectors
| 63
| not used
| 120
| some have, some don't
| ?
|-
| ?
!style='text-align:left;'| Framerate
| 200, 400
| up to 10fps recording in high quality
| 100, 250
|  
| ~65?
* ZED Mini: varies from 15fps @4k to 100fps @1344x376
| 120, 240
* 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;'|Depth range, m
!style='text-align:left;'| Full Hardware setup
| 10-5000
|  
| 0.16-10+
* Some laptop when recording (network GUI - only browser, no extra drivers)
| 0.105-10+
* Good PC (+NVidia GPU) when processing
| 0.5-20
|  
| 0.15-12
* Some require PC with extra drivers or other software
| 1-20
* Some require PC with extra drivers or other software + good NVidia GPU (like ZED)
| 0.6-1.1
| <3
| ?
| 250mm: 1.5%@10m, 17.5%@100m
| 3%@1m, 5%@2m
| link
| 0.5-3
|-
|-
|}
|}
==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 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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