VOXL Tracking Sensor Datasheet
OV7251 640x480 global shutter mono fisheye module, 166 degree, 24-pin Molex connector
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
Replace the stereo image sensors used on VOXL to enable fisheye stereo.
Leveraging the industry’s smallest global shutter pixel, the black and white OV7251 is capable of capturing VGA (640x480) resolution video at 120 frames per second (fps), QVGA (320x240) at 180 fps with binning, and QQVGA (160x120) at 360 fps with binning and skipping. The OV7251’s high frame rates make it an ideal solution for low-latency machine vision applications.
- Molex connector, same pin-out as MD102A
Compatible With:
- Flex cable MFPC-M0010 *Flex cable MPFC-M0008
Specification
MSU-M0072-1-01 OV7251 166° FOV (EOL)
| Specification | Value |
|---|---|
| Sensor | OV7251 Datasheet |
| Shutter | Global |
| Resolution | 640x480 |
| Framerate | 30,60,90Hz implemented on VOXL, sensor supports 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% |
Technical Drawings
3D STEP File
TBD
2D Diagram
Module Connector Pinout
| Pin # | Signal Name | Pin # | Signal Name |
|---|---|---|---|
| 1 | DGND | 2 | XCLK |
| 3 | DGND | 4 | XSHUTDOWN |
| 5 | STROBE | 6 | DGND |
| 7 | MDP | 8 | MDN |
| 9 | DGND | 10 | MCP |
| 11 | MCN | 12 | DGND |
| 13 | ULPN | 14 | FSIN |
| 15 | NC | 16 | DGND |
| 17 | SI0_D | 18 | SI0_C |
| 19 | DGND | 20 | D0VDD_1.8V |
| 21 | NC | 22 | DGND |
| 23 | AVDD_2.8V | 24 | AGND |
VOXL 2 Integration
| Item | Detail |
|---|---|
| Sensor type in voxl-camera-server | ov7251 (single module on M0008 flex) or ov7251-combo (pair on M0010 flex) |
| Standard camera configurations | C01, C02, C03, C04, C05, C06, C10, C11, C14, C16, C17, C19, C21, C23 (VOXL 2 platform config 0), selected by sensor type only; any ov7251 module is treated the same. No configuration names M0072. 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 | M0008-1 or M0010-1 flex plus M0076, M0084 or M0135 adapter; or M0109-1 cable with no adapter (SDK 0.7 and greater) |
| Connects to VOXL 2 Mini via | M0008-1 flex plus M0135 dual sensor adapter |
| Calibration | Tracking camera: calibrate with voxl-calibrate-camera <pipe> --fisheye (see Calibrate Cameras) |
SDK 0.7 and greater. More information here.
Image Samples for Sensor
Indoor
Outdoor
