VOXL Stereo Sensor Datasheet
Dual OV7251 640x480 global shutter mono stereo pair, 85 degree FOV, hardware synchronized
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
Stereo VGA monochrome (grayscale) sensor kit that plugs directly into VOXL® and VOXL Flight. With 2 cameras, and some computer vision processing, a depth map can be generated. With a depth map and location, obstacle avoidance can be achieved. This configuration is ideal for outdoor SLAM (Simultaneous Location and Mapping) applications. Uses OV7251 global-shutter, VGA imaging sensors.
Specification
MSU-M0015-1-01 OV7251 85° FOV (EOL)
| Specification | Value |
|---|---|
| Sensor | OV7251 Datasheet |
| Shutter | Global, Hardware-Synchronized |
| Resolution | 1280x480 (640x480 * 2) |
| Framerate | up to 60Hz |
| Data formats | YUV only |
| Lens Size | 1/7.5” |
| Focusing Range | 5cm~infinity |
| Focal Length | 1.77mm |
| F Number | 2.5 |
| Fov(DxHxV) | 85° x 68° x 56° |
| TV Distortion | < -3.5% |
| Weight | 4g |
Technical Drawings
3D STEP File
M0015-1 Found Here
2D Diagram
Module Connector Pinout
Left
| Pin # | Signal Name | Pin # | Signal Name |
|---|---|---|---|
| 1 | GND | 2 | GND |
| 3 | VREG_L23A_2P8 | 4 | CAM_MCLK1_BUFF |
| 5 | GND | 6 | GND |
| 7 | NC | 8 | CAM1_RST0_N |
| 9 | VREG_S4A_1P8 | 10 | L_FLASH |
| 11 | GND | 12 | GND |
| 13 | CCI_I2C_SCL0 | 14 | MIPI_CSI1_LANE0_CONN_P |
| 15 | CCI_I2C_SDA0 | 16 | MIPI_CSI1_LANE0_CONN_M |
| 17 | GND | 18 | GND |
| 19 | NC | 20 | MIPI_CSI1_CLK_CONN_P |
| 21 | CAM_SYNC_0 | 22 | MIPI_CSI1_CLK_CONN_M |
| 23 | L_ULPM | 24 | GND |
Right
| Pin # | Signal Name | Pin # | Signal Name |
|---|---|---|---|
| 1 | GND | 2 | GND |
| 3 | VREG_L23A_2P8 | 4 | CAM1_MCLK3 |
| 5 | GND | 6 | GND |
| 7 | NC | 8 | CAM_RST1_N |
| 9 | VREG_S4A_1P8 | 10 | R_FLASH |
| 11 | GND | 12 | GND |
| 13 | CCI_I2C_SCL1 | 14 | MIPI_CSI1_LANE2_CONN_P |
| 15 | CCI_I2C_SDA0 | 16 | MIPI_CSI1_LANE2_CONN_M |
| 17 | GND | 18 | GND |
| 19 | NC | 20 | MIPI_CSI1_LANE3_CONN_P |
| 21 | CAM_SYNC_0 | 22 | MIPI_CSI1_LANE3_CONN_M |
| 23 | R_ULPM | 24 | GND |
Pinout Images Module Connector Schematic
VOXL 2 Integration
| Item | Detail |
|---|---|
| Sensor type in voxl-camera-server | ov7251-combo (written to the camera server config as ov7251 with two camera IDs) |
| Standard camera configurations | C01, C03, C10, C11 (VOXL 2 platform config 0, stereo slot on J6 lower and/or J8 lower only). The configuration files select by sensor type; any ov7251-combo pair 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 | M0010-1 stereo flex plus M0076, M0084 or M0135 adapter; M0008-1 flex plus the same adapters; or M0109-1 cable with no adapter (SDK 0.7 and greater) |
| Connects to VOXL 2 Mini via | Not supported. The M0010 stereo flex is not currently supported in the VOXL 2 Mini camera configurations (see VOXL 2 Mini Image Sensors) |
| Calibration | Not documented for this module. The Calibrate Cameras stereo example does not use the --fisheye flag; the 85 degree lens is not a fisheye. |
SDK 0.7 and greater. More information here.
Image Samples for Sensor
Indoor
Stereo-front left
Stereo-front right
Outdoor
Stereo-front left
Stereo-front right
