VOXL Tracking Sensor Datasheet
OV7251 640x480 global shutter mono tracking module, 166 degree fisheye, 36-pin flex
This module is EOL. ModalAI image sensors have moved to a micro-coax format — the current tracking sensors are the AR0144-based MSU-M0166 (micro-coax) and MSU-M0149-1 (with cable).
Table of Contents
- Specification
- Technical Drawings
- Module Connector Pinout
- VOXL 2 Integration
- Image Samples for Sensor
- Hardware Design Guidance
Tracking VGA sensor and flex cable to connect to VOXL® and VOXL 2 for indoor flight, GPS-denied navigation VIO and global shutter computer vision processing.
This module is based on an OV7251 VGA, global-shutter CMOS sensor with fisheye lens.
Specification
MSU-M0014-1-01 OV7251 166° FOV (EOL)
| Specification | Value |
|---|---|
| Sensor | OV7251 Datasheet |
| Shutter | Global |
| Resolution | 640x480 |
| Framerate | 30,60,90Hz implemented on VOXL, sensor suports up to 120Hz |
| Data formats | B&W 8 and 10-bit |
| Lens Size | 1/3.06” |
| Focusing Range | 5cm~infinity |
| Focal Length | 0.83mm |
| F Number | 2.0 |
| Fov(DxHxV) | 166° x 133° x 100° |
| TV Distortion | -20.77% |
Requirements
Current/Power Consumption
Technical Drawings
3D STEP File
2D Diagram
Module Connector Pinout
| Pin # | Signal Name | Pin # | Signal Name |
|---|---|---|---|
| 1 | GND | 2 | GND |
| 3 | NC | 4 | NC |
| 5 | SDA | 6 | D0VDD1.8V |
| 7 | SCL | 8 | NC |
| 9 | RST_0 | 10 | XCLK |
| 11 | GND | 12 | GND |
| 13 | MCP | 14 | STROBE |
| 15 | MCP | 16 | NC |
| 17 | MDP | 18 | NC |
| 19 | MDN | 20 | AVDD2.8V |
| 21 | GND | 22 | GND |
| 23 | NC | 24 | NC |
| 25 | NC | 26 | FSIN |
| 27 | NC | 28 | NC |
| 29 | NC | 30 | NC |
| 31 | GND | 32 | GND |
| 33 | NC | 34 | NC |
| 35 | NC | 36 | GND |
VOXL 2 Integration
| Item | Detail |
|---|---|
| Sensor type in voxl-camera-server | ov7251 |
| Standard camera configurations | C01, C02, C03, C04, C05, C06, C11, C14, C16, C17, C19, C21, C23 (VOXL 2 platform config 0, tracking slot). The configuration files select by sensor type; any ov7251 module is treated the same. See VOXL 2 Camera Configurations. Run voxl-configure-cameras help on the device for the list shipped with your SDK release. |
| Connects to VOXL 2 via | M0076 or M0084 (JL) adapter on M0054 J6, J7 or J8 (HW ID 2, tracking) |
| Connects to VOXL 2 Mini via | M0135 (JL or JU), M0076 (J1) or M0084 (JL or JU) adapter on M0104 J6 or J7 (see VOXL 2 Mini Image Sensors) |
| Calibration | Tracking camera: calibrate with voxl-calibrate-camera <pipe> --fisheye (see Calibrate Cameras) |
Image Samples for Sensor
Indoor
Outdoor
