14. Technical Specifications
| Category | Parameter | Specification / Value |
|---|---|---|
| Depth Module | Depth resolution | 240 × 180 |
| Range (Max) | 30 m @ 10% reflectivity (< 500 lux); 70 m @ 90% reflectivity (< 500 lux) | |
| Range (Min) | 0.2 m | |
| Point rate | Up to 700,000 pts/s | |
| Range accuracy | ±3 cm @ 1σ [1] | |
| Field of view (FOV, H × V) | 120° H × 90° V | |
| Angular resolution | 0.5° × 0.5° | |
| Laser wavelength | 940 nm | |
| Laser safety class | Class 1 (eye-safe) | |
| Frame rate | 10 FPS by default, up to 15 FPS | |
| RGB Camera Module | Resolution | 1600 × 1296 |
| Exposure | Global shutter | |
| FOV (H × V) | 129° H × 104° V × 173° D | |
| Image size | 1/2.9” | |
| Pixel size | 3 µm × 3 µm | |
| Frame rate | 10 / 15 fps | |
| System | Built-in SLAM accuracy | ±5 cm + 1% [2] |
| Weight | ~ 280 g | |
| Dimensions (L × W × D) | ~ 100 × 62 × 43 mm (body) / 46 mm (with aviation plug) | |
| Power consumption | 11 W typical, 24 W peak | |
| Ingress protection | IP66 | |
| Operating voltage | 9–24 V | |
| Operating temperature | -20 °C ~ 55 °C | |
| Storage temperature | -25 °C ~ 60 °C | |
| Data Output | Point cloud | True-color SLAM point cloud / raw point cloud |
| Image | Raw RGB image | |
| IMU | High-rate raw data | |
| Pose | High-rate rotation and position | |
| Software interface | Open-source SDK with ROS 1 / ROS 2 support |
[1] Indoor test environment, computed as standard deviation over 20 consecutive frames against an 80% Lambertian reflectance board. At 5 m: ±3 cm @ 1σ; from 5 m to 30 m, the 1σ accuracy stays below 1%.
[2] Under laboratory conditions.