Image Sensors

Documentation for ModalAI’s range of tracking, Hi-Res, Time of Flight, and Stereo image sensors.

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Choosing an Image Sensor

The table below compares the documented sensor boards. Tracking modules are global-shutter monochrome sensors with fisheye lenses intended for VIO; they are calibrated with voxl-calibrate-camera <pipe> --fisheye (see Calibrate Cameras). Hires and low-light modules are rolling-shutter color sensors calibrated with the pinhole model (no --fisheye flag). ToF modules are not calibrated with voxl-calibrate-camera. Boards marked (EOL) are end of life; their datasheet pages name the current replacement where one exists. The full adapter and cable chain for each board is in the VOXL 2 Integration table on its page. The sensor type is the token used by the standard voxl-camera-server camera configurations; the configurations are selected by sensor type, so any module with the same token is treated the same. See the VOXL 2 camera configurations page for the configuration numbers, and run voxl-configure-cameras help on the device for the list shipped with your SDK release.

Image Sensor Catalog

Extending MIPI Image Sensor Cable Lenghts

It is strongly recommended to not connect multiple flex cables back-to-back to increase length beyond what ModalAI has shipped as a valid and supported configuration. The risk here includes:

• Incorrect connector orientation risk resulting in sensor or Voxl failures (including power to ground shorts)
• Adding mating cycles to connectors that have limited life span
• Reducing reliability due to increased interconnect points
• Increasing the length or creating a configuration beyond the data link limits ModalAI has already proven and supports

If your application needs an extended length for your image sensor, please contact ModalAI and we can explore a custom flex/cable hardware and software solution that will work for you.

M0014 Tracking Module Datasheet

OV7251 640x480 global shutter mono tracking module, 166 degree fisheye, 36-pin flex

See docs

M0015 Stereo Module Datasheet

Dual OV7251 640x480 global shutter mono stereo pair, 85 degree FOV, hardware synchronized

See docs

M0072 Fisheye Module Datasheet

OV7251 640x480 global shutter mono fisheye module, 166 degree, 24-pin Molex connector

See docs

M0073 OV9782 Module Datasheet

OV9782 1280x800 global shutter RGB stereo module with IR-cut filter, 121 degree FOV

See docs

M0113 OV9782 Module Datasheet

OV9782 1280x800 global shutter RGB stereo module, no IR-cut filter, 121 degree FOV

See docs

M0149 Tracking Module Datasheet

AR0144 1280x800 global-shutter tracking module, 36-pin flex, M7 fisheye 162 deg lens

See docs

M0166 Tracking Module Datasheet

AR0144 1280x800 global-shutter tracking module, micro-coax, M7 fisheye 162 deg lens

See docs

M0024 IMX214 Module Datasheet

IMX214 4208x3120 rolling shutter color hires module, 107 or 146 degree lens, 10 cm flex (EOL)

See docs

M0025 IMX214 Module Datasheet

IMX214 4208x3120 rolling shutter color hires module, 100 or 81 degree lens, 8.5 cm flex

See docs

M0061 Framos Adapter Module Datasheet

Framos adapter for IMX412 (-1) or IMX678 (-2) rolling shutter color hires, M12 lens

See docs

M0107 IMX412 Low Light Image Sensor Datasheet

IMX412 12.3 MP rolling-shutter color hires module, 36-pin flex, M12 120 deg lens (EOL)

See docs

M0161 IMX412 Low Light Image Sensor Datasheet

IMX412 4056x3040 rolling-shutter color hires module, micro-coax, M12 120 deg lens

See docs

M0186 IMX664 Low Light FPV Image Sensor Datasheet

IMX664 2704x1540 rolling-shutter color low-light FPV module, micro-coax, M12 150 deg lens

See docs

M0040 Time of Flight Module Datasheet

PMD IRS1645 224x171 time of flight depth module, 4 to 6 m range, 850 nm, 36-pin flex

See docs

M0169 Time of Flight Module Datasheet

PMD IRS2975C 240x180 ToF depth module on 36-pin AXT adapter, external 5 V, 106 deg FOV

See docs

M0178 VOXL 2 Time of Flight Module Datasheet

PMD IRS2975C 240x180 ToF depth module on 40-pin adapter for VOXL 2 via M0173, 106 deg FOV

See docs

M0189 VOXL 2 Mini Tof

ST VL53L8CX 8x8 multizone I2C ToF rangefinder for VOXL 2 Mini via M0188/M0195, 65 deg FOV

See docs