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Performance#

This topic contains performance-related information.

Depth Performance#

Depth Quality Assessment#

Calculation of Depth Accuracy (Z-accuracy): Depth accuracy (Z-accuracy) measures the per-pixel depth accuracy relative to the ground truth (GT) in a single-frame depth image, excluding errors due to camera placement. GT is obtained by measuring the distance from depth origin to the reference target. Depth accuracy can be calculated using the following formula:

DepthAccuracySigned = Median (CPL – GT + PPD)

where:

CPL = Actual length between the depth origin and a fitted plane along the GT measuring direction

PPD = Per-pixel distance of the point cloud to the fitted plane

Calculation of Spatial Precision: The spatial precision is calculated as the percentage of the root mean square error (RMS Error) between each valid pixel and the optimal fitting plane compared to the true value (GT).

Calculation of Temporal Precision: The temporal precision measures the variation in depth values over time within a ROI. The quality of a depth image can be assessed based on its temporal consistency, high-quality depth images should be smooth and stable over time. This method is defined as the standard deviation (STD) of depth values across a specific number of frames (for example, 30). The quantification of temporal noise is carried out on a per-pixel basis, followed by calculating the STD of each pixel over a specified time.

Depth Fill Rate Calculation: The fill rate is used to calculate the proportion of valid pixels to total pixels within the target area (ROI), primarily used to measure the completeness of depth.

For mor information about the calculation principle, see Depth Quality Metrics.

Typical Depth Performance#

The typical depth performance of cameras of the Stereo mini series is shown in the table below:

STM-501u / STM-502u STM-951u / STM-952u / STM-951g STM-955g
Depth Accuracy ≤±2 % (1280 x 800 @ 2 m & 90 % x 90 % ROI) ≤±1 % (1280 x 800 @ 2 m & 90 % x 90 % ROI)
≤±2 % (1280 x 800 @ 4 m & 80 % x 80 % ROI)		 ≤±1 % (1280 x 800 @ 2 m & 90 % x 90 % ROI)
≤±2 % (1280 x 800 @ 4 m & 80 % x 80 % ROI)
Spatial Precision ≤1.5 % (1280 x 800 @ 2 m & 90 % x 90 % ROI) ≤0.8 % (1280 x 800 @ 2 m & 90 % x 90 % ROI)
≤1.6 % (1280 x 800 @ 4 m & 80 % x 80 % ROI)		 ≤0.4 % (1280 x 800 @ 2 m & 90 % x 90 % ROI)
≤0.8 % (1280 x 800 @ 4 m & 80 % x 80 % ROI)
Temporal Precision ≤0.9 % @ 2 m ≤0.4 % @ 2 m ≤0.1 % @ 2 m (1280 x 800)
Fill Rate ≥99.5 % (1280 x 800 @ 2 m & 90 % x 90 % ROI) ≥99.5 % (1280 x 800 @ 2 m & 90 % x 90 % ROI) ≥99.5 % (1280 x 800 @ 2 m & 90 % x 90 % ROI)

Info

  1. The actual working range and accuracy may vary with the ambient illumination and the objects being measured.
  2. The test object is a reflectivity > 80 % plane, and the reference range is 81 % FOV (81 % FOV is the remaining center 81 % of the depth map area after cropping 5 % from the top, bottom, left, and right of the depth map) or 64 % FOV (64 % = 80 % x 80 % and of a similar definition).
    Depth Performance
  3. The depth performance of each 3D camera is validated at the production line before shipping to customers. The metrics reflect the depth performance under typical conditions. External impact factors over 3D cameras' whole lifespan may have significant impacts on their depth performance.

Spatial Precision Performance Reference vs. Distance

Typical depth performance reference of spatial precision for STM-501u / STM-502u

STM-501u / STM-502u Spatial Precision

Typical depth performance reference of spatial precision for STM-951u / STM-952u

STM-951u / STM-952u Spatial Precision

Temporal Precision Performance Reference vs. Time

Typical depth performance reference of temporal precision for STM-501u

STM-501u Temporal Precision

Typical depth performance reference of temporal precision for STM-951u

STM-951u Temporal Precision

Fill Rate Performance Reference vs. Distance

Typical depth performance reference of fill rate for STM-501u / STM-502u

STM-501u / STM-502u Fill Rate

Typical depth performance reference of fill rate for STM-951u / STM-952u

STM-951u / STM-952u Fill Rate

Electrical Performance#

Power Supply#

USB cameras of the Stereo mini series require a power supply with a USB 3.0 Type-C connector. It's important to ensure that the power output is standard and that the maximum current of the power port is 1.5 A or higher.

GigE cameras of the Stereo mini series can be PoE or DC powered with the following power requirements:

Power Supply Method STM-951g STM-955g
PoE IEEE 802.3af IEEE 802.3af
DC ≥1 A @ 9–24 V ≥2 A @ 9–24 V

Power Consumption#

Power consumption varies depending on the selected working mode.

USB#

STM-501u / STM-502u STM-951u / STM-952u
Typical configuration Laser power level: 6
Disparity search range: 128
D2C: Off
Depth: 1280 x 800 @ 30 fps Y16 AE On
RGB: 1920 x 1080 @ 30 fps MJPEG AE On
IR: Off
IMU ODR (output data rate): 200 Hz		 Laser power level: 6
Disparity search range: 256
D2C: Off
Depth: 1280 x 800 @ 30 fps Y16 AE On
RGB: 1280 x 720 @ 30 fps MJPEG AE On
IR: Off
IMU ODR (output data rate): 200 Hz
Average Power Consumption 2.3 W 2.5 W
STM-501u / STM-502u STM-951u / STM-952u
Max Power Configuration Laser power level: 6
Disparity search range: 128
D2C: Off
Depth: 1280 x 800 @ 30 fps Y16 & exposure: 32ms
RGB: 1920 x 1080 @ 30 fps MJPEG AE On
IR: 1280 x 800 @ 30 fps Y8 & exposure: 32 ms
IMU ODR (output data rate): 1000 Hz		 Laser power level: 6
Disparity search range: 256
D2C: Off
Depth: 1280 x 800 @ 30 fps Y16 & exposure: 32 ms
RGB: 1280 x 720 @ 30 fps MJPEG AE On
IR: 1280 x 800 @ 30 fps Y16 & exposure: 32 ms
IMU ODR (output data rate): 1000 Hz
Average power consumption 3.0 W 3.0 W

GigE#

STM-951g#
PoE DC Power
Typical configuration Laser power level: 6
Disparity search range: 256
D2C: Off
Depth: 1280 x 800 @ 15 fps Y16, AE On
RGB: 1280 x 800 @ 15 fps MJPEG AE On
IR: Off
IMU ODR (output data rate): 1000 Hz		 Laser power level: 6
Disparity search range: 256
D2C: Off
Depth: 1280 x 800 @ 15 fps Y16, AE On
RGB: 1280 x 800 @ 15 fps MJPEG AE On
IR: Off
IMU ODR (output data rate): 1000 Hz
Average Power Consumption 4.42 W 3.25 W
PoE DC Power
Max Power Configuration Laser power level: 6
Disparity search 256
D2C: Off
Depth: 848 x 530 @ 60 fps Y16, exposure: 7.58 ms
RGB: 1280 x 800 @ 60 fps MJPEG AE On
IR: 1280 x 800 @ 15 fps Y8
IMU ODR (output data rate): 1000 Hz		 Laser power level: 6
Disparity search range: 256
D2C: Off
Depth: 848 x 530 @ 60 fps Y16, exposure: 7.58 ms
RGB: 1280 x 800 @ 60 fps MJPEG AE On
IR: 1280 x 800 @ 15 fps Y8
IMU ODR (output data rate): 1000 Hz
Average power consumption 4.82 W 3.43 W
STM-955g#
PoE DC Power
Typical configuration Laser power level: 5
D2C: On
Operating temperature: 25 °C
Depth: 1280 x 800 @ 10 fps RVL, AE On
RGB: 1280 x 800 @ 10 fps MJPEG AE On
IR x 2: 1280 x 800 @ 10 fps Y8 AE On
IMU ODR (output data rate): 1000 Hz		 Laser power level: 5
D2C: On
Operating temperature: 25 °C
Depth: 1280 x 800 @ 10 fps RVL, AE On
RGB: 1280 x 800 @ 10 fps MJPEG AE On
IR x 2: 1280 x 800 @ 10 fps Y8 AE On
IMU ODR (output data rate): 1000 Hz
Average Power Consumption 7.57 W 6.07 W
PoE DC Power
Max Power Configuration Laser power level: 6
D2C: On
Operating temperature: 50 °C
Depth: 1280 x 800 @ 10 fps RVL, AE On
RGB: 1280 x 800 @ 10 fps MJPEG AE On
IR x 2: 1280 x 800 @ 10 fps Y8 AE On
IMU ODR (output data rate): 1000 Hz		 Laser power level: 6
D2C: On
Operating temperature: 50 °C
Depth: 1280 x 800 @ 10 fps RVL, AE On
RGB: 1280 x 800 @ 10 fps MJPEG AE On
IR x 2: 1280 x 800 @ 10 fps Y8 AE On
IMU ODR (output data rate): 1000 Hz
Average power consumption 8.08 W 6.55 W

Storage and Powered Conditions#

Condition Description Min–Max
Storage (Ambient), Not Powered Long Term Storage 0–50 °C
STM-955g only: 0–60 °C
Temporary limits acceptable for transportation or short exposures -20–60 °C
Humidity Temperature / RH: 60 °C / 95 %
Ambient, Powered The camera ambient temperature when powered STM-501u, STM-502ua: -10–45 °C
STM-951ub, STM-952ub, STM-951gc, STM-955g: -10–50 °C
LDM Protect Temperature The LDM temperature when powered Min: N/A
Max: 73 °C
Backside Case Temperature, Powered (STM-501u / STM-502u) The maximum temperature of the backside case occurs when the camera is operated in an ambient temperature of 45 °C 0–60 °C
Backside Case Temperature, Powered (STM-951u / STM-952u) The maximum temperature of the backside case occurs when the camera is operated in an ambient temperature of 50 °C 0–60 °C
Backside Case Temperature, Powered (STM-951g) The maximum temperature of the backside case occurs when the camera is operated in an ambient temperature of 50 °C 0–65 °C
Backside Case Temperature, Powered (STM-955g) The maximum temperature of the backside case occurs when the camera is operated in an ambient temperature of 50 °C -3–65 °C

  1. For STM-501u and STM-502u, the camera can operate at any resolution combination at 15 fps within the temperature range of -10 °C to 45 °C. When the camera is configured for high-resolution image output at 30 fps and 60 fps, due to the significant increase in power consumption, the operating temperature range will be reduced to -10 °C to 40 °C.

  2. For STM-951u and STM-952u, the camera can operate at any resolution combination at 15 fps and 30 fps within the temperature range of -10 °C to 50 °C. When the camera is configured for high-resolution image output at 60 fps, due to the significant increase in power consumption, the operating temperature range will be reduced to -10 °C to 45 °C.

  3. For STM-951g, the camera can operate at any resolution combination at 15 fps within the temperature range of -10 °C to 50 °C. When the camera is configured for high-resolution image output at 30/60/90 fps, due to the significant increase in power consumption, the operating temperature range will be reduced to -10 °C to 45 °C.

Info

If operation over a wider temperature range is required, additional thermal management measures need to be considered.

ESD Performance#

ESD performance of Stereo mini cameras:

Powered-On Powered-Off Certification Standards
Contact Discharge ±8 KV Class A ±8 KV Class A EN 61000-6-2
Air Discharge ±15 KV Class A ±15 KV Class A EN 61000-6-2

Physical Performance#

Ingress Protection#

USB#

Camera IP Rating Protection Ability Conditions Reference Standard
STM-501u / STM-502u IP5X
  • Prevents solid objects from entering the camera.
  • Can't completely prevent dust from entering the inside of the camera but the dust that does enter doesn't affect normal operation.
  • Insert the Type-C cable and tighten the screws.
  • Multi-camera sync 8-pin interface not in use.
 IEC 60529:2013
STM-951u / STM-952u IP65 (USB Type-C Connector: IP67)
  • Completely prevents dust from entering the camera.
  • Prevents low-pressure liquid spray from entering the camera.
  • Multi-camera sync 8-pin interface not in use.
 IEC 60529:2013

GigE#

IP Rating Power Supply Protection Ability Conditions
IP67 PoE
  • Completely prevents dust from entering the camera.
  • Completely prevents water from entering the camera's interior for 30 minutes at depths up to 1 m.
  • Use an IP67 cable and make sure the M12 X-coded connector is connected well.
  • Ensure that the M8/M12 A-coded connector cover is in place.
IP67 DC Power
  • Completely prevents dust from entering the camera.
  • Completely prevents water from entering the camera's interior for 30 minutes at depths up to 1 m.
  • Use network cables and power cables that meet IP67 requirements.
  • Ensure that the M12 X-coded and M8/M12 A-coded interfaces are locked at the same time.