The recent availability of affordable ROS-compatible 3D sensors has been one of the fortunate coincidences that has accelerated the spread of ROS. This page is intended to replace the Blog Post from early 2016, to be a one-stop more "easy to find" spot for updates and a more complete list of 3D sensors. We are happy to see there has been such traffic on this topic and look forward to making this a more consistent resource to the development community.
Microsoft® Kinect™ 2.0
Type: Time of flight
Depth Range: 0.5 to 4.5 m
3D Resolution: 512 x 424
RGB Resolution: 1920 x 1080
Frame Rate: 30 fps
Latency: 20 ms minimum
FOV: 70° H, 60° V
Physical dims: ~250x70x45 mm (head)
Interface: USB 3.0
Link to ROS Driver
Notes: Latency with ROS is multiple frames.
Active cooling.
Depth Range: 0.5 to 4.5 m
3D Resolution: 512 x 424
RGB Resolution: 1920 x 1080
Frame Rate: 30 fps
Latency: 20 ms minimum
FOV: 70° H, 60° V
Physical dims: ~250x70x45 mm (head)
Interface: USB 3.0
Link to ROS Driver
Notes: Latency with ROS is multiple frames.
Active cooling.
Intel RealSense R200
Type: Stereo with pattern projector
Depth Range: 0.6 – 3.5 m
3D Resolution: 640 x 480
RGB Resolution: 1920 x 1080
Frame Rate: 60 fps (3D), 30 fps (RGB)
Latency: 1 frame
FOV: 59° H, 46° V
Physical dims: 102x9.5x7 mm
Interface: USB 3.0
Link to ROS Driver
Notes: Outdoors capable.
Depth Range: 0.6 – 3.5 m
3D Resolution: 640 x 480
RGB Resolution: 1920 x 1080
Frame Rate: 60 fps (3D), 30 fps (RGB)
Latency: 1 frame
FOV: 59° H, 46° V
Physical dims: 102x9.5x7 mm
Interface: USB 3.0
Link to ROS Driver
Notes: Outdoors capable.
ASUS® XtionPro™ Live
Type: Structured light
Depth Range: 0.8 to 3.5 m
3D Resolution: 640 x 480
RGB Resolution: 1280 x 1024
Frame Rate: 30 fps
Latency: ~1.5 frames
FOV: 58° H, 45° V
Physical dims: ~180x40x25 mm (head)
Interface: USB 2.0
Link to ROS Driver
Notes: Similar internals to the Xbox Kinect 1.0. Intermittent availability for purchase.
Depth Range: 0.8 to 3.5 m
3D Resolution: 640 x 480
RGB Resolution: 1280 x 1024
Frame Rate: 30 fps
Latency: ~1.5 frames
FOV: 58° H, 45° V
Physical dims: ~180x40x25 mm (head)
Interface: USB 2.0
Link to ROS Driver
Notes: Similar internals to the Xbox Kinect 1.0. Intermittent availability for purchase.
IFM® Efector™ O3D303
Type: Time of flight
3D Resolution: 176 x 132
RGB Resolution: N/A
Depth Range: 0.3 to 8 m
Frame Rate: 25 fps
Latency: 1 frame
FOV: 60° V, 45° H
Physical Dims: 120x95x76 mm
Interface: Ethernet
Link to ROS Driver
Notes: Accuracy +/-4 mm. IP65/67 industrial enclosure.
3D Resolution: 176 x 132
RGB Resolution: N/A
Depth Range: 0.3 to 8 m
Frame Rate: 25 fps
Latency: 1 frame
FOV: 60° V, 45° H
Physical Dims: 120x95x76 mm
Interface: Ethernet
Link to ROS Driver
Notes: Accuracy +/-4 mm. IP65/67 industrial enclosure.
Stereolabs® ZED™
Type: Embedded stereo
3D Resolution: 2208 x 1242 max
RGB: 2208 x 1242 max
Depth Range: 1.5 to 20 m
Frame Rate: 15 fps at max res., 120 fps at VGA res.
Latency: 1 frame
FOV: 96° H, 54° V
Physical Dims: 175x30x33 mm
Interface: USB 3.0
Link to ROS Driver
Notes: Latency not confirmed.
3D Resolution: 2208 x 1242 max
RGB: 2208 x 1242 max
Depth Range: 1.5 to 20 m
Frame Rate: 15 fps at max res., 120 fps at VGA res.
Latency: 1 frame
FOV: 96° H, 54° V
Physical Dims: 175x30x33 mm
Interface: USB 3.0
Link to ROS Driver
Notes: Latency not confirmed.
Carnegie Robotics® MultiSense™ S7
Type: Embedded stereo
3D Resolution: 2048 x 1088
RGB Resolution: 2048 x 1088 max (7.5 fps)
Depth Range: 0.4 m to infinity
Frame Rate: 15 fps at 2048 x 544
Latency: 1 frame
FOV: 80° H, 45° V
Physical Dims: 130x130x65 mm
Interface: Ethernet
Link to ROS Driver
Notes: IP68 enclosure.
3D Resolution: 2048 x 1088
RGB Resolution: 2048 x 1088 max (7.5 fps)
Depth Range: 0.4 m to infinity
Frame Rate: 15 fps at 2048 x 544
Latency: 1 frame
FOV: 80° H, 45° V
Physical Dims: 130x130x65 mm
Interface: Ethernet
Link to ROS Driver
Notes: IP68 enclosure.
Ensenso® N35-606-16-BL
Type: Structured light
3D Resolution: 1280 x 1024
RGB: 1280 x 1024
Frame Rate: 10 fps
Latency: 1 frame
FOV: 58° H, 52° V
Physical Dims: 175x50x52 mm
Interface: Ethernet
Link to PCL/ROS Driver
Notes: Many other resolutions and FOVs available. IP65/67 enclosure available.
3D Resolution: 1280 x 1024
RGB: 1280 x 1024
Frame Rate: 10 fps
Latency: 1 frame
FOV: 58° H, 52° V
Physical Dims: 175x50x52 mm
Interface: Ethernet
Link to PCL/ROS Driver
Notes: Many other resolutions and FOVs available. IP65/67 enclosure available.
SICK® Visionary-T™
Type: Time of flight
3D Resolution: 144 x 176
RGB: N/A
Frame Rate: 30 fps
Latency: 66 msec
FOV: 69° H, 56° V
Physical Dims: 162x93x78 mm
Interface: Ethernet
Link to ROS Driver
Notes: IP67 enclosure
3D Resolution: 144 x 176
RGB: N/A
Frame Rate: 30 fps
Latency: 66 msec
FOV: 69° H, 56° V
Physical Dims: 162x93x78 mm
Interface: Ethernet
Link to ROS Driver
Notes: IP67 enclosure
e-Con Systems Tara Stereo Camera
Type: Embedded Stereo Camera
3D Resolution: 752 x 480
RGB: N/A
Frame Rate: 60 fps
Latency: 1 Frame
FOV: 60° H
Physical Dims: 100x30x35 mm
Interface: USB 3.0
Link to ROS Driver
Notes: Inbuilt IMU
3D Resolution: 752 x 480
RGB: N/A
Frame Rate: 60 fps
Latency: 1 Frame
FOV: 60° H
Physical Dims: 100x30x35 mm
Interface: USB 3.0
Link to ROS Driver
Notes: Inbuilt IMU
Narian SPI
Type: FPGA Stereo Camera
3D Resolution: 640 x 480
RGB: N/A
Frame Rate: 30 fps
Latency: 1 Frame
FOV: Variable
Physical Dims: 105x76x36 mm
Interface: USB 2.0 to cameras, Gigabit Ethernet to Host
Link to ROS Driver
Notes: Resolution up to 1440 x 1072
3D Resolution: 640 x 480
RGB: N/A
Frame Rate: 30 fps
Latency: 1 Frame
FOV: Variable
Physical Dims: 105x76x36 mm
Interface: USB 2.0 to cameras, Gigabit Ethernet to Host
Link to ROS Driver
Notes: Resolution up to 1440 x 1072
Intel® RealSense D415™
Type: Active IR Stereo
3D Resolution: 1280 x 720 max
RGB: 1920 x 1080 max
Depth Range: 0.3 to 10 m
Frame Rate: 90 fps at max depth res., 30 fps at max rgb res.
Latency: not noted
FOV: 69.4° x 42.5° x 77° (+/- 3°)
Physical Dims: 99 mm x 20 mm x 23 mm
Interface: USB 3.0 Type - C
Link to ROS Driver
Notes: Latency not confirmed.
3D Resolution: 1280 x 720 max
RGB: 1920 x 1080 max
Depth Range: 0.3 to 10 m
Frame Rate: 90 fps at max depth res., 30 fps at max rgb res.
Latency: not noted
FOV: 69.4° x 42.5° x 77° (+/- 3°)
Physical Dims: 99 mm x 20 mm x 23 mm
Interface: USB 3.0 Type - C
Link to ROS Driver
Notes: Latency not confirmed.
Orbbec® Astra Mini™
Type: Structured Light
3D Resolution: 640 x 480 max
RGB: 640 x 480 max
Depth Range: 0.6 m to 5.0 m
Frame Rate: 30 fps
Latency: 1 frame
FOV: 73 D x 60 H x 49.5 V
Physical Dims: 80 x 20 x 20 mm
Interface: <2.4w data-preserve-html-node="true" USB
Link to ROS Driver
Notes: Optional metal enclosure available. Handle with care without an enclosure, deflection can cause issues with performance. Excessive heat can cause issues. Performance comparable to Asus Xtion.
3D Resolution: 640 x 480 max
RGB: 640 x 480 max
Depth Range: 0.6 m to 5.0 m
Frame Rate: 30 fps
Latency: 1 frame
FOV: 73 D x 60 H x 49.5 V
Physical Dims: 80 x 20 x 20 mm
Interface: <2.4w data-preserve-html-node="true" USB
Link to ROS Driver
Notes: Optional metal enclosure available. Handle with care without an enclosure, deflection can cause issues with performance. Excessive heat can cause issues. Performance comparable to Asus Xtion.
Photoneo® PhoXi® 3D Scanner L
Type: Structured Light
Depth Map/Point Cloud Resolution: 0.8-3.2M Points
Depth Range: 870-2156 mm
Frame Rate: 2.5-5 fps
Latency: 1 frame
FOV: 1300 x 975 x 1200 mm
Physical Dims: 77 x 68 x 616 mm
Interface:Link to API with ROS Support
Notes: Data Acquisition Time: 2.5-5s. Near metrology grade resolution. Comes in a variety of models. Operates in High Resolution or High Acquisition Modes.
Depth Map/Point Cloud Resolution: 0.8-3.2M Points
Depth Range: 870-2156 mm
Frame Rate: 2.5-5 fps
Latency: 1 frame
FOV: 1300 x 975 x 1200 mm
Physical Dims: 77 x 68 x 616 mm
Interface:
Notes: Data Acquisition Time: 2.5-5s. Near metrology grade resolution. Comes in a variety of models. Operates in High Resolution or High Acquisition Modes.
roboception® rc_visard™
Type: Stereo Camera
3D Resolution: 640 x 480 max
RGB: 1280 x 960 max
Depth Range: 0.2 m to 1.0 m for 65 Model, 0.5 m to 3.0 m for 160 Model
Frame Rate: 3-25 Hz
Latency: 1 frame
FOV: 61 H x 48 V
Physical Dims: 135 x 75 x 96 mm for 65 Model, 230 x 75x 84 mm for 160 Model
Interface: Ethernet
Link to ROS Driver
Notes: Weight 680g for 65 Model, 850g for 160 Model. Optional SLAM module. ROS Driver being developed further thanks to the support of the ROSIN EU project.
3D Resolution: 640 x 480 max
RGB: 1280 x 960 max
Depth Range: 0.2 m to 1.0 m for 65 Model, 0.5 m to 3.0 m for 160 Model
Frame Rate: 3-25 Hz
Latency: 1 frame
FOV: 61 H x 48 V
Physical Dims: 135 x 75 x 96 mm for 65 Model, 230 x 75x 84 mm for 160 Model
Interface: Ethernet
Link to ROS Driver
Notes: Weight 680g for 65 Model, 850g for 160 Model. Optional SLAM module. ROS Driver being developed further thanks to the support of the ROSIN EU project.
duo3d® DUO MC™
Type: Stereo Camera
3D Resolution: 752 x 480 max
RGB: 752 x 480 max
Depth Range: 0.23 m to 2.5 m for for M series
Frame Rate: 0.1-3000 fps Max
Latency: 1 frame
FOV: 170 W with 30 mm Baseline
Physical Dims: 57 x 30.5 x 14.7mm
Interface: 480 Mbps USB 2.0 Micro-B
Link to API
Link to ROS Driver
3D Resolution: 752 x 480 max
RGB: 752 x 480 max
Depth Range: 0.23 m to 2.5 m for for M series
Frame Rate: 0.1-3000 fps Max
Latency: 1 frame
FOV: 170 W with 30 mm Baseline
Physical Dims: 57 x 30.5 x 14.7mm
Interface: 480 Mbps USB 2.0 Micro-B
Link to API
Link to ROS Driver
Notes: Pixel size 6 x 6 micrometers. Shutter Speed 0.3 microseconds to 1- seconds. Control Functions: Exposure, Shutter, Brightness. Enclosure 6021 Aircraft Grade Aluminium.
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