There are different types of 3D sensors, that can differ between different methods to acquire world data or how that data is processed in order to represent it in a convenient way.
These sensors can vary in many ways such as acquisition method, resolution, range, etc. This page entails a brief overview of the different 3D sensor types and a small survey of what sensors are currently available.
João Alves, Aivero
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Last updated: November 16, 2021
The Aivero team and Azure Kinect
What are depth cameras used for?
Depth sensing cameras enable machines to perceive the environment in three dimensions. Because of the richer information depth cameras provide, they have gained importance in applications such as vision-guided robotics, inspection and monitoring.
3D data is less susceptible to environmental disturbances such as changing light conditions. Thus, machines become more reliable and precise when performing tasks, for example when picking up an object and placing it elsewhere.
Learn more about the use cases of depth cameras
Next we’ll look at how different depth sensors work, covering the most important methods used to generate depth information.
Zivid Two mounted on a collaborative robot
How Do Cameras Detect Depth?
Stereo sensors
Stereo sensors try to mimic human vision by using two cameras facing the scene with some distance between them (baseline, see Figure 1). The images from these cameras are acquired and then used to perform visual feature (relevant visual information) extraction and matching in order to obtain what is called a disparity map between the cameras’ views.
The disparity information is inversely proportional to depth, and can easily be used to obtain the depth map. This also means that some sensors of this type usually only work in feature rich environments and encounter problems in featureless environments (e.g. a white wall). However, this type of sensor, usually allows for greater depth image resolutions than other types of cameras.
These feature detection and matching computations are done on board the camera, which means that they usually require more processing power than other methods. Also, the stereo working distance is limited by the baseline between the cameras as the error increases quadratically with objects’ distance to the sensor. Usual applications entail both indoor or outdoor, feature-rich environments.
Figure 1: Stereo Vision
Time-of-Flight
Time of Flight (ToF) sensors flood the entire scene with light and calculate depth using the time it takes each photon to come back to the sensor. This means that each pixel relates to one beam of light projected by the device, which provides more data density, narrower shadows behind objects and easier calibration (no stereo matching).
Since they use light projection, these sensors are sensitive to different types of surfaces, such as very reflective or very dark ones. In these cases, invalid data usually appears in the image. However they are much more robust to low lighting or dim conditions than stereo sensors which depend on the scene lighting. These sensors can be used both indoors and outdoors.
Structured Light
Structured light (SL) sensors, on the other hand, use a known pattern projected by the IF sensor onto the scene. The way the pattern deforms is then used in constructing the depth map.
This type of sensor does not require an external light source and is mainly used in indoor environments due to their low robustness to sunlight, since interference may occur with the projected light pattern.
Figure 2: Structured Light versus Time of Flight illustration
Light Detection Ranging
Similar to ToF but with scanning, light detection and ranging (LiDAR) sensors are more accurate than ToF since they use multiple IR pulses whereas ToF sensors usually just use one light pulse to obtain their image. By mapping the environment point-per-point instead of a burst of points (as in ToF), the overall noise for each point is reduced, producing more accurate results. Furthermore, LiDAR can usually obtain measurements at a greater distance than traditional ToF or Stereo sensors.
However, LiDAR sensors are usually more expensive than other 3D sensors and, since they perform scanning, can be affected by highly dynamic environments (mo- tion blur).
Figure 3: LiDAR Sensor Operation
Depth Camera Producers
Helios
Producer: Lucid Vision Labs
Type: Time of Flight
Price: N/A
Range: 0.3-6m
Depth Resolutions:
- 640×480
Color Resolutions:
- 640×480
Size: 55*55*77.5 mm
Helios
Helios2
Producer: Lucid Vision Labs
Type: Time of Flight
Price: N/A
Range: 0.3-8.3m
Depth Resolutions:
- 640×480
Color Resolutions:
- 640×480
Observation:
- IP67
Size: 60*60*77.5 mm
Helios2
Helios2+
Producer: Lucid Vision Labs
Type: Time of Flight
Price: N/A
Range: 0.3-8.3m (Normal, HDR) / 0.3-2.5m (High-Speed)
Depth Resolutions:
- 640×480
Color Resolutions:
- 640×480
Observation:
- IP67
Size: 60*60*77.5 mm
Helios2+
Basler Blaze-101
Producer: Basler
Type: Time of Flight
Price: N/A
Range: 0-10 m
Depth Resolutions:
- 640×480/VGA@30FPS
Color Resolutions:
- 640×480/VGA@30FPS
Observation:
- IP67
Size: 100*81*64 mm
Basler Blaze-101
Zivid Two
Producer: Zivid
Type: Structured light
Price: € 12,225
Range: 0.3-1.5 m
Depth Resolutions:
- 1944×1200
Color Resolutions:
- 1944×1200
Observation:
- IP65
- Handles reflective objects
Size: 169*56*122 mm
Zivid Two
Dynim Spark
Producer: Dynim Oy
Type: RGB Stereo
Price: $N/A
Range: 0.5-30m
Color Resolutions:
- 1440*1080@30 FPS
Depth Resolutions:
- 1440*1080@30 FPS
Observation:
- Industrial grade device for demanding environments
- Dust and waterproof
- Onboard neural processing unit
Size: 321*78*69.3 mm
Note: Launching summer 2021
Dynim Spark
Photoneo Phoxi 3D Scanner
Producer: Photoneo
Type: Structured light
Price: N/A
Range: 0.15 – 4.0m
Depth Resolutions:
- 1954 x 1459 (up to 3.2 million)
Observation:
- Does not capture colour
- IP65
- PoE & 24V powering options
- Suitable for temperature changes
- Incl. NVIDIA PascalTM GPU (256 CUDA)
Size: 77*68*416 mm (weight 0.9 – 1.5 kg)
Photoneo Phoxi 3D Scanner
Photoneo MotionCam 3D
Producer: Photoneo
Type: Parallel structured light
Price: N/A
Range: 0.36 – 3.0 m
Depth Resolutions:
- 1680 x 1200
Observation:
- Does not capture colour
- IP65
- PoE
- Suitable for high speed monitoring (max 20 fps)
- Incl. NVIDIA PascalTM GPU (256 CUDA)
Size: 80*68*427 mm (weight 1.4 kg)
Photoneo MotionCam 3D
Azure Kinect
Producer: Microsoft
Type: Time of Flight
Price: $399
Range: 0.25-5.46m
Depth Resolutions:
- 20*288@30 FPS
- 512*512@30 FPS
- 640*576@30 FPS
- 1024*1024@15 FPS
Color Resolutions:
- 4096*3072@15 FPS
- 3840*2160@30 FPS
- 2560*1440@ 30 FPS
- 2048*1536@30 FPS
- 1920*1080@30 FPS
- 1280*720@30 FPS
Observation:
- Mature SDK
- Widely used
Size: 103*39*126 mm
Azure Kinect Sensor
Ensenso N40 / N45
Producer: Ensenso
Type: RGB Stereo
Price: N/A
Range: 0.33 – 3.0 m
Depth Resolutions:
- 1280*1024
Color Resolutions:
- 1280×1024
Observation:
- IP65/67
- Gigabit Ethernet
- Housing: Plastic composite
Size: 193*52*60 mm
Ensenso N30/N35
Ensenso N30 / N35
Producer: Ensenso
Type: RGB Stereo
Price: N/A
Range: 0.27 – 3.0 m
Depth Resolutions:
- 1280×1024
Color Resolutions:
- 1280×1024
Observation:
- IP65/67
- Gigabit Ethernet
- Housing: Aluminium
Size: 195*50*52 mm
Ensenso N30/N35
Ensenso N10
Producer: Ensenso
Type: RGB Stereo
Price: N/A
Range: 0.16 – 2.0 m
Depth Resolutions:
- 752×480
Color Resolutions:
- 752×480
Observation:
- IP30
- USB 2 connection
- Housing: Aluminium
Size: 158*45*45 mm
Ensenso N10
Zivid One+
Producer: Zivid
Type: Structured light
Price: € 11,850
Range: 0.3 – 3.0 m (depends on version: S/M/L)
Depth Resolutions:
- 1920×1200@12FPS
Color Resolutions:
- 1920×1200@12FPS
Observation:
- IP65
- Handles reflective objects
- Comes in three sizes (S, M & L)
Size: 226*165*86 mm
Zivid One+
ZED Stereo Camera
Producer: Stereolabs
Type: RGB Stereo
Price: $349
Range: 0.3-25m
Depth Resolutions:
- 672*376@100 FPS
- 1280*720@60 FPS
- 1920*1080@30 FPS
- 2208*1242@15 FPS
Color Resolutions:
- 672*376@100 FPS
- 1280*720@60 FPS
- 1920*1080@30 FPS
- 2208*1242@15 FPS
Observation:
- Needs feature rich environment
- Long range
Size: 175*30*33 mm
ZED Stereo Camera
ZED 2 Stereo Camera
Producer: Stereolabs
Type: RGB Stereo
Price: $449
Range: 0.2-20m
Depth Resolutions:
- 672*376@100 FPS
- 1280*720@60 FPS
- 1920*1080@30 FPS
- 2208*1242@15 FPS
Color Resolutions:
- 672*376@100 FPS
- 1280*720@60 FPS
- 1920*1080@30 FPS
- 2208*1242@15 FPS
Observation:
- Needs feature rich environment
- SDK contains some MV services
- Long range
Size: 175*30*33 mm
ZED 2 Stereo Camera
ZED Mini Camera
Producer: Stereolabs
Type: RGB Stereo
Price: $399
Range: 0.1-15m
Depth Resolutions:
- 672*376@100 FPS
- 1280*720@60 FPS
- 1920*1080@30 FPS
- 2208*1242@15 FPS
Color Resolutions:
- 672*376@100 FPS
- 1280*720@60 FPS
- 1920*1080@30 FPS
- 2208*1242@15 FPS
Observation:
- Needs feature rich environment
- Oriented to AR/VR market segment
- Long range
Size: 124.5*30.5*26.5 mm
ZED Mini Camera
RealSense D415
Producer: Intel
Type: IR Stereo
Price: $149
Range: 0.3-10m
Depth Resolutions:
- 640*480@90 FPS
- 1280*720@30 FPS
Color Resolutions:
- 640*480@60 FPS
- 1280*720@30 FPS
- 1920*1080@30 FPS
Observation:
- IR Stereo works in any environment
- Mature SDK
- Widely used
Size: 99*20*23 mm
RealSense D415 camera
RealSense D435
Producer: Intel
Type: IR Stereo
Price: $179
Range: 0.2-10m
Depth Resolutions:
- 640*480@90 FPS
- 1280*720@30 FPS
Color Resolutions:
- 640*480@60 FPS
- 1280*720@30 FPS
- 1920*1080@30 FPS
Observation:
- IR Stereo works in any environment
- Mature SDK
- Widely used
Size: 90*25*25 mm
RealSense D435 camera
RealSense D455
Producer: Intel
Type: IR Stereo
Price: $239
Range: 0.4-20m
Depth Resolutions:
- 640*480@90 FPS
- 1280*720@30 FPS
Color Resolutions:
- 640*480@60 FPS
1280*720@30 FPS
Observation:
- IR Stereo works in any environment
- Global shutter for improving motion blur
- Mature SDK
- Widely used
Size: 125*26*29 mm
RealSense D455 camera
RealSense L515
Producer: Intel
Type: LiDAR
Price: $349
Range: 0.25-9m
Depth Resolutions:
- 1024*768@30 FPS
Color Resolutions:
- 1280*720@30 FPS
- 1920*1080@30 FPS
Observation:
- LiDAR technology
- Most accurate from the RealSense family
- Mature SDK
Size: (Diam.*H): 61*26 mm
RealSense L515
Astra Mini S
Producer: Orbbec
Type: Structured light
Price: $159.99
Range: 0.35-1m
Depth Resolutions:
- 640*480@30 FPS
Color Resolutions:
- 640*480@30 FPS
Observation:
- Indoor environment
- No case included
- Small form factor
Size: 80*20*20 mm
Astra Mini S camera
Astra Pro
Producer: Orbbec
Type: Structured light
Price: $149.99
Range: 0.6-8m
Depth Resolutions:
- 640*480@30 FPS
Color Resolutions:
- 1280*720@30 FPS
• Observation:
- Indoor environment
Size: 165*30*40 mm
Astra Pro camera
Astra
Producer: Orbbec
Type: Structured light
Price: $149.99
Range: 0.6-8m
Depth Resolutions:
- 640*480@30 FPS
Color Resolutions:
- 640*720@30 FPS
Observation:
- Indoor environment
Size: 165*30*40 mm
Astra camera
Astra S
Producer: Orbbec
Type: Structured light
Price: $149.99
Range: 0.2-2m
Depth Resolutions:
- 640*480@30 FPS
Color Resolutions:
- 640*720@30 FPS
Observation:
- Indoor environment
Size: 165*30*40 mm
Astra S camera
Astra Stereo S U3
Producer: Orbbec
Type: IR Stereo
Price: $169.99
Range: 0.25-2.5m
Depth Resolutions:
- 1280*800@30 FPS
Color Resolutions:
- 1920*1080@30 FPS
Observation:
- Indoor environment
Size: 65.3*22.5*12.3 mm
Astra Stereo S U3 camera
Structure Core
Producer: Occipital
Type: IR Stereo
Price: $399
Range: 0.3-5m
Depth Resolutions:
- 1280*960@54 FPS
- 1280*800@60 FPS
Color Resolutions:
- 640*480@100 FPS
Observation:
- IR Stereo works in any environment
Size: 109*18*24 mm
Occipital Structure Core
Mynt Eye S210
Producer: Mynt Eye
Type: RGB Stereo
Price: $199
Range: 0.5-7m
Depth Resolutions:
- 640*400@60 FPS
- 1280*800@30 FPS
Color Resolutions:
- 640*400@60 FPS
- 1280*800@30 FPS
Observation:
- Needs feature rich environment
- Global shutter for improving motion blur
Size: 125*47*26.6 mm
MYNT EYE S210
Mynt Eye S1030
Producer: Mynt Eye
Type: IR Stereo
Price: $249
Range: 0.5-18m
Depth Resolutions:
- 752*480@60 FPS
Color Resolutions:
- 752*480@60 FPS
Observation:
- IR stereo works in any environment
Size: 165*31*30 mm
MYNT EYE S1030 / Non-IR
Mynt Eye S1030 Non-ir
Producer: Mynt Eye
Type: IR Stereo
Price: $199
Range: 0.5-18m
Depth Resolutions:
- 752*480@60 FPS
Color Resolutions:
- 752*480@60 FPS
Observation:
- Needs feature rich environment
Size: 165*31*30 mm
MYNT EYE S1030 / Non-IR
Mynt Eye D1000 120 FOV
Producer: Mynt Eye
Type: IR Stereo
Price: $389
Range: 0.3-10m
Depth Resolutions:
- 1280*720@60 FPS
Color Resolutions:
- 1280*720@60 FPS
Observation:
- IR Stereo works in any environment
- Size: 165*30*30 mm
MYNT EYE D1000 120 FOV
Mynt Eye D1000 50 FOV
Producer: Mynt Eye
Type: IR Stereo
Price: $299
Range: 0.3-10m
Depth Resolutions:
- 1280*720@60 FPS
Color Resolutions:
- 1280*720@60 FPS
Observation:
- IR Stereo works in any environment
Size: 165*30*30 mm
MYNT EYE D1000 50 FOV
Mynt Eye P
Producer: Mynt Eye
Type: IR Stereo
Price: $399
Range: 0.2-4.2m
Depth Resolutions:
- 1280*720@60 FPS
Color Resolutions:
- 1280*720@60 FPS
Observation:
- IR Stereo works in any environment
- Global shutter for improving motion blur
Size: 124*33*33 mm
MYNT EYE P