VOXL Time of Flight (ToF) Sensor Datasheet


The PMD Time of Flight sensor produces high-fidelity depth mapping indoors up to 6m. On the VOXL platform this sensor is mutually exclusive to the stereo cameras, meaning the stereo cameras need to be replaced with the TOF Add-on.


Requires VOXL System Image 2.3 or greater.


Specicifcation Value
Technology PMD
Rate 5 - 45FPS in configurable option modes for distance / accuracy / framerate
Exposure Time 4.8 ms typ. @ 45 fps / 30 ms typ. @ 5 fps
Resolution 224 x 171 (38k) px
FOV (H x V) 117° x 117° (near field 100° x 80°)
Range 4 - 6m
Depth Resolution <= 1% of distance (0.5 – 4m @ 5fps) <= 2% of distance (0.1 – 1m @ 45fps)
Time Sync No physical pin, but the frame timestamp is measured with 50ns precision on a single clock. All of the sensors on the VOXL platform are timestamped for computer vision.
Power Consumption <2W
Weight 3g
Dimensions 24mm x 10.6mm
Eye Safe Yes

2D/3D Drawings

Example Code

ROS HAL3 TOF Example