High-precision
MobileRanger^TM StereoVision
SYSTEMS

The nDepth Stereovision system is a top-of-the-line instrument for measuring depth for demanding applications such as mobile robot navigation, people tracking, gesture recognition, targeting, 3D surface visualization and advanced human computer interaction. It is ideal for robot applications because it offloads initial depth calculations to an FPGA, reserving the robot's computing resources for other tasks. Operating at 30 frames per second for 752x480 images, the PC104+ nDepth" vision system uses a monochrome image to provide superior speed and depth performance. To access color information, we recommend the addition of a light-weight single-lens, fixed-mount camera for fusing with stereo. Otherwise, see Color Digital Stereovision for slower, more resource intensive offboard processing of lower resolution color stereo images.
nDepth Processor	At the center of the system is a 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
MobileRanger Stereovision Systems	MobileRanger Stereovision Systems combine nDepth™ range-finding system with MobileRobots quality cameras.  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 PC104+ card using one standard CAT5 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, MobileRanger systems are ideal for a wide variety of imaging applications in real-world environments. Available in indoor and outdoor versions.
Robot Integration Mount Options	When deployed on any MOBILEROBOTSinside or MOBILEROBOTSoutdoors compliant platform, MobileRanger is installed onto the required computer embedded in the robot.  The included software package makes the depth data available, as well as the raw monochrome images for those wishing to do analysis on either single images or the matched left and right images. MobileRanger and nDepth software is also sold separately for use on non-compliant platforms. MobileRanger is available with either a manual tilt mount for fixed use or a pan-tilt mount, controllable through ARIA, available in indoor or outdoor versions.
Key Features 2 billion-pixel-disparities per second processing Frees robot PCs for other tasks Pan-tilt controllable from ARIA	Components nDepth processor with Linux or Win drivers  6cm baseline monochrome indoor or outdoor stereovision camera Fixed or pan-tilt mount, indoor or outdoor version  Cabling
MobileRanger Stereovision System Specifications 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 CAT5 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 CAT5 cables from PCI card. Power Consumption <500mW at maximum data rate; Dimensions 4.25in x 1.5in x 1.25in Optional Pan-Tilt Mount Maximum Rated Payload:  over 4 lbs Maximum Speed: over 300 degrees/second Acceleration/Deceleration: Trapezoidal, on-the-fly speed and position changes Resolution: 3.086 arc minutes Tilt Range (approx) minimum 31 degrees up and 47 degrees down (78 degree range) with option of 80 degrees down (111 degree range)  Pan Range (approx): +-159 degrees (318 degree range) with option of +-180 degrees (360 degree range)