Luxonis - OAK ToF

The OAK-D Short Range PoE with ToF (OAK-D SR PoE) was designed to provide an accurate short to medium-range depth perception (ideally up to 3m). It’s ideal for applications like bin picking, for pick and place machines, quality control/automated manufacturing, robotics arms, and more. It features a robust, IP65 / IP67-rated enclosure (please see specifications details).

It features ToF sensor sensor which has an ideal range of 20cm to 5m, and depth accuracy of below 1% indoors and below 2% outdoors.

The OAK-D SR PoE leverages our OAK-SoM-Pro to make an overall compact design. The use of the SoM reduces the design’s scale, making it easier to mount or fit in various robotic processes.

PoE connection allows cameras to communicate to other computers via networking protocols (TCP, UDP, HTTP, MQTT, etc.). As our PoE models feature device flash memory, you can also run your programs in standalone mode. OAK PoE cameras are housed in an rugged, IP-rated enclosure, which is required for industrial and outdoor use.

We suggest following PoE deployment guide as the first steps after installation.

RVC2 architecture on-board features:

• 4 TOPS of processing power (1.4 TOPS for AI - RVC2 NN Performance)
• Active stereo: IR dot projector improves depth perception, especially for low-visual-interest surfaces by projecting thousands of IR dots to the scene.
• Night vision: IR illumination LED enables running your AI and CV algorithms in low-light or no-light environments
• Run any AI model, even custom architected/built ones (models need to be converted)
• Encoding: H.264, H.265, MJPEG - 4K/30FPS, 1080P/60FPS
• Computer vision: warp (undistortion), resize, crop via ImageManip node, edge detection, feature tracking. You can also run custom CV functions
• Stereo depth perception with filtering, post-processing, RGB-depth alignment, and high configurability
• Object tracking: 2D and 3D tracking with ObjectTracker node
• Base line: 20mm
• Ideal depth range:
  Stereo: 30 - 100cm
  ToF: 20cm - 5m
• Power consumption: up to 5.5W
• Industrial grade aluminum housing with Front Gorilla Glass
• 1/4" tripod mount and 75mm M4 Vesa mount

Dimensions & Weight

• Dimensions: 80x52x46 mm
• Weight: 297g

Box measurements

This app showcases accurate and efficient volumetric measurements using the ToF-equipped OAK-D-SR PoE camera.

Specification

Depth perception

Stereo depth

This OAK camera has a baseline of 2 cm - the distance between the left and the right stereo camera. Minimal and maximal depth perception (MinZ and Max) depends on camera FOV, resolution, and baseline- more information here.

• Ideal range: 30cm - 100cm
• MinZ: 20cm (800P)
• MaxZ: ~3 meters with a variance of 10%

ToF depth perception

ToF tech emits modulated IR light (940nm), measures return time to sensor, and calculates object distance. This determines depth in the scene.

• Depth range limits: 20cm - 5m
• ToF depth accuracy (more information here):
  indoors: below 1%
  outdoors: below 2%

Features

IR perception

This product is classified as a Class 1 Laser Product under the EN/IEC 60825-1, Edition 3 (2014) internationally.

Active stereo:

• Uses Ams Belago 1.1 Dot-Pattern Infrared Illuminator
• IR dot projector improves depth perception, especially for low-visual-interest surfaces by projecting thousands of IR dots to the scene.

Night vision:

• IR illumination LED enables running your AI and CV algorithms in low-light or no-light environments

Rugged industrial connectors

M12 PoE connector is used for power and GBit data transfer. Additionally M8 connector for IO connectivity; USB2 (D+, D-), camera IOs (FSIN, STROBE), power, and one auxiliary GPIO. Cap for M8 is included when connector is not used to ensure water resistance.

Status LED

The camera is equipped with a single state status LED that indicates when the pipeline is running. Depending on the specific camera model and production batch, the LED may be either green or yellow.

Power and connectivity

Power-over-Ethernet (PoE)

The base board offers full 802.3af, Class 3 PoE compliance with 1000BASE-T speeds (1Gbps). PoE injector/switch is required to power the device.

Power consumption

Most of the power is consumed by the RVC2, so the power consumption mostly depends on the workload of the VPU:

• Base consumption + camera streaming: 2.5W - 3W
• PoE circuitry: 0.5W
• AI subsystem consumption: Up to 1W
• Stereo depth pipeline subsystem: Up to 0.5W
• Video Encoder subsystem: Up to 0.5W

Illumination LED and laser dot projector

Power is configurable (more power - more brightness):

• Dot projector (active stereo): Up to 1W
• Illumination LED (night vision): Up to 1W

So the total power consumption can be up to ~7.5W if you are using all the features at 100% at the same time. To reduce the power consumption, you can reduce FPS of the whole pipeline - that way, subsystems won’t be utilized at 100% and will consume less power.

Operating characteristics

Water resistance

This camera has IP rated enclosure. First produced batch (from August 2024) has IP65 rating. Later units have IP67.

Temperature

The ambient operating temperature of RVC2 based devices is between -20°C and 50°C when fully utilizing the VPU.

Package contains:

• Ethernet cable M12 to RJ45 2m
• OAK-D ToF

Open Source Hardware

This hardware design is open source, and all design files are available on GitHub.