SP1: Real-Time 3D Stereo Vision Through FPGA-Technology
The SP1 stereo vision sensor allows you to perform stereo matching on real-time camera imagery, which facilitates depth perception and 3D-reconstruction. Unlike most other approaches to depth sensing, such as structured light or time-of-flight measurements, stereo vision is a purely passive technology which also works in bright daylight.
You can connect two standard USB industrial cameras to the SP1, and thus maintain control over all parameters of the stereo vision setup. Using FPGA-technology and hardware implementations of state-of-the-art algorithms, the SP1 can process the camera images in real-time. The processing result, which is a sub-pixel accurate disparity map (an inverse depth map), is sent out over the gigabit-ethernet port to an attached computer or embedded system. Using our open-source and cross-platform API, this disparity map can be converted into a 3D point cloud.
We have put great efforts into optimizing and fine-tuning our algorithms, to ensure that the SP1 delivers high quality depth data at high processing rates. Furthermore, we have made the SP1 easy to use, by integrating a user friendly web interface and by performing automated camera re-calibration. The SP1 is the ideal choice for reliable 3D depth sensing for a diverse set of industrial applications. The FPGA design that drives the SP1 can also be licensed as an IP core.
Depth Measurement Examples
|Power consumption:||< 4 W|
|Power supply:||5 V DC|
|Dimensions:||105 × 76 × 36 mm|
|I/O:||USB 2.0 host, Gigabit Ethernet, 2× trigger out, synchronization input (pin shared with trigger 1)|
|Stereo algorithm:||Semi-Global Matching (SGM)|
|Image resolution:||Configurable from 320 × 240 pixels up to 1440 × 1440 pixels|
|Disparity range:||Configurable from 32 to 256 pixels|
|Frame rate:||Up to 40 fps depending on image size and disparity range|
|Sub-pixel resolution:||4 bits (1/16 pixel)|
|Post-processing:||Erroneous disparity removal, noise removal, speckle filtering|
|Horizontal displacement:||-39 to +39 pixels|
|Vertical displacement:||-39 to +39 pixels|
Achievable Frame Rates and Image Resolutions
Supported CamerasThe SP1 can be used with our own Karmin 3D stereo camera. In addition a variety of greyscale cameras from FLIR (formerly Point Grey), Basler AG and IDS Imaging Development Systems GmbH are supported. Please follow the link below for a complete list of cameras that are known to be compatible:
Supported Platforms and Standards
|SP1||SP1 stereo vision sensor|
- Lens focal length and stereo baseline calculator
- ROS node for SP1 stereo vision sensor
- Open source information