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PCI nDepth™ Vision System

Overview

Focus Robotics nDepth™ PCI vision system is for companies and individuals
looking to add real-time depth perception to an existing PC platform.
Operating at 30 frames per second for 752x480 images, the PCI nDepth" vision system
provides outstanding depth performance for demanding applications
such as mobile robot navigation, people tracking, gesture
recognition, targeting, 3D surface visualization and advanced human
computer interaction. Customers looking for tighter integration or IP cores should
visit our Stereo Vision Cores page.

nDepth™ Processor via PCI

processor
At the center of the system is our 2 billion pixel disparities per second
nDepth™ vision processor.
This programmable hardware device (FPGA) handles all aspects of depth calculation,
including realtime lens undistortion, camera rectification, correspondence searching,
and advanced post filtering for error removal. And unlike software based depth
perception, the nDepth™ processor uses virtually no PC CPU resources
so your PC is free for higher level tasks. All output from the processor is
sent via direct memory access (DMA) to the PC. The undistorted and rectified
(calibrated) images, along with the depth image, can also be sent every frame
if desired. Our use of programmable hardware allows for upgrades and expansion
so you know you can always have the most advanced solution

6cm Baseline Stereo Vision Camera

processor
The PCI nDepth™ vision system includes a 6cm 752x480
stereo vision camera. Available with an automotive quality monochrome image sensor,
the Focus Robotics stereo vision camera boasts >60dB of dynamic range and near IR
enhanced performance for use with non-visible near IR illumination. Support for
M12x0.5 uVideo lenses ensures you get the right optics for your applications needs.
The stereo camera connects easily to the PCI card using one standard CAT6 cable up
to 5 meters in length. The cable carries all necessary power, data, and control for
the stereo camera. With progressive scan, global shutter and low-noise imaging
technology, this stereo camera is ideal for a wide variety of imaging
applications in real-world environments.

Technical Specification




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nDepth™ Vision Processor Subsystem
Resolution WVGA (752x480)
Disparity Frame Rate 30 frames per second WVGA with 92 disparity levels.
Disparity Range Up to 124.
Camera Callibration Calibration coeficients generated at the factory.
Processor rectifies and undistorts images in real-time
Calibration Error 0.1 pixel RMS error.
Stereo Algorithm Sum of Absolute Differences (SAD) with 9x9 block matching.
Left/Right Check Identifies places where correlation is
contradictory and thus uncertain
Host Interface Standard PCI 33, direct DMA access.
Processor Upgrades Ability to upgrade processor functionality
in the field.
6cm Baseline Stereo Vision Camera
Resolution Two 752x480 1/3-inch wide-VGA CMOS digital image sensors.
Frame Rate Programmable up to 60 frames per second.
Baseline 6cm. Contact us for custom baseline cameras.
Mounting Includes three standard Tripod mounts on the bottom.
Contact us for drawings.
Image Format Monochome: Near_IR enhanced performance for use
with non-visible NIR illumination. Contact us
for information regarding color sensors.
Dynamic Range >60dB
Analog to Digital Conversion 10 bit
Shutter Type Global shutter photodiode pixels; simultaneous integration
and readout.
Controls Automatic/Manual syncronized exposure and gain control.
Interface LVDS on CAT6 cable up to 5 meters in length.
Focal Lens Length Uses standard M12x0.5 uVideo lenses. 4.3mm standard. Contact
us for additional lens options.
Power Supply Supplied via CAT6 cables from PCI card.
Power Consumption <1W at maximum data rate;
Dimensions 4.25in x 1.5in x 1.25in.
Host Software Subsystem
Drivers Linux and Windows drivers provide access to the depth image
and the undistorted and rectified (calibrated) images.
Demonstration Code Includes integration with OpenCV image processing library and
open source samples. Linux driver is also open source.
Control API Includes programming interfaces for parameter control
and infield processor upgrades.

Availability and Ordering

The PCI nDepth™ Vision System is available now for immediate shipment.
The system comes with everything you need to get started, including processor,
PCI card, stereo camera, lenses, cables, and software. Please
call or email our sales
department for more information.

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PC/104+ nDepth™ Vision System

Overview

processor
In addition to the PCI short card above, a PC/104+ version is available for embedded
applications. Other than the small PC/104+ form factor, the specifications,
drivers and sample code are identical to the PCI system.

Availability and Ordering

The PC/104+ nDepth™ Vision System is available now for immediate shipment.
The system comes with everything you need to get started, including processor,
PC/104+ card, stereo camera, lenses, cables, and software. Please
call or email our sales
department for more information.

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