1. Sensors
1.1. Active Camera
To address the challenges of environmental perception and operational cognition in robotics, RoboSense has innovatively developed the Active Camera sensor platform through multi-sensor integration.
Significantly lowering development barriers and enhancing efficiency, the AI-Ready ecosystem-equipped Active Camera provides foundational components and advanced tools – including drivers, calibration systems, data fusion modules, SLAM capabilities, and advanced multi-modal perception algorithms.
This empowers developers to focus on high-value tasks and functional optimization, assisting them in achieving versatile, efficient, and elegant solutions for creating robots with enhanced behavioral intelligence and expanded functional capabilities.
1.1.1. Specifications
| Active Camera Specifications Table | |||
|---|---|---|---|
| Lidar | |||
| Ranging Principle | TOF (Time of Flight) | Horizontal FOV | 120° |
| Laser Wavelength | 940nm | Vertical FOV | 90° |
| Laser Safety Class | Class 1 (Eye Safe) | Horizontal Resolution | Average 0.625° |
| Ranging Capability | 40m@10% Reflectivity | Vertical Resolution | |
| Blind Zone | 0.1m@90% Reflectivity | Accuracy (Typical) | ±1 cm (0 ~ 5 m) ±3 cm (> 5 m) |
| Points per Second | ~173333 points/sec | Frame Rate | 10 Hz |
| RGB Camera | |||
| Shutter Type | Rolling Shutter | Horizontal FOV | 144° |
| CIS Output Format | NV12, RGB24 | Vertical FOV | 78° |
| Frame Rate | 30 Hz | Resolution | 1920*1080 |
| IMU | |||
| Degrees of Freedom | 6-Axis Data Output | Gyroscope | ±2000dps |
| Accelerometer | ±16g | Data Frequency | 200Hz (Adjustable) |
| Overall Unit Specifications | |||
| Form Factor | Standard Probe Module | Power Consumption | 12.6W (Typical) |
| Operating Temperature | -20°C ~ +60°C | Storage Temperature | -20°C ~ +70°C |
| Protection Rating | IP54 | Weight | 400g ± 10% |
| Data Interface | USB 3.2 Gen1 | Power Interface | DC |
| Dimensions | 95mm*80mm*40mm (length * height * width) | ||
1.1.2. Coordinate Systems
In practical applications, data from various sensors in the Active Camera is required.
The coordinate systems of these sensors are defined as follows:
The coordinate system of the LiDAR sensor is denoted as \(O_L−X_LY_LZ_L\) .
The coordinate system of the camera sensor is denoted as \(O_C−X_CY_CZ_C\) .
The coordinate system of the IMU sensor is denoted as \(O_I−X_IY_IZ_I\) .
The AC coordinate system \(O−XYZ\) is defined as identical to the LiDAR coordinate system, \(O_L−X_LY_LZ_L\) .
The relationships between these coordinate systems are illustrated in the figure below:
The origin of the LiDAR coordinate system \(O_L\) in the AC coordinate system \(O−XYZ\) is at \((0,0,0)\) (unit: mm).
The origin of the camera coordinate system \(O_C\) in the AC coordinate system \(O−XYZ\) is at \((4.3,0,−26.9)\) (unit: mm).
The origin of the IMU coordinate system \(O_I\) in the AC coordinate system \(O−XYZ\) is at \((−10.6,−9.9,15.5)\) (unit: mm).