Camera
We use Arducam OV9281 Monochrome Global Shutter Camera.
Overview
- Global shutter: up to 260fps
- Monochrome: more sensitive to light
- Wide angle: 150° (DFoV)
- Mini size: 24x25mm, V1/V2 size
- Easy to use: compatible with all Raspberry Pi boards
Specifications
| Specification | Value |
|---|---|
| Sensor | OV9281 |
| Optical Size | Type 1/4” |
| Pixel Size | 3μm×3μm |
| Shutter Type | Global Shutter |
| Max Sensor Resolution | 1280 x 800 |
| Color Filter Array | None (Monochrome) |
| Resolution and Frame Rate | RAW8/RAW10: 640×480@260fps, 1280×720@144fps, 1280×800@120fps |
| Supported Platform | Pi 4/3/Zero/CM3/CM4 |
| Output | RAW8/RAW10 |
| Focus Type | Manual |
| Focus | 50cm~INF |
| Lens | f/2.0; EFL: 1.69mm; FoV: 150° (D) |
| IR Sensitivity | Build-in 650nm IR-cut filter, sensitive to visible light only |
| Dimensions | 25mm × 24mm |
Installation
You may find more information about the installation here: [Link], [Archive]
Notes
It uses OV9281 driver on libcamera and Picamera2, thus, we only support Bullseye.
This is why we need to add:
dtoverlay=ov9281to
/boot/config.txt
You may also try Raspberry Pi cameras (we did), but they have limited FOV and rolling-shutter, which is not desired for SLAM.