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Camera

We use Arducam OV9281 Monochrome Global Shutter Camera.

[Link], [Archive]

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
SpecificationValue
SensorOV9281
Optical SizeType 1/4”
Pixel Size3μm×3μm
Shutter TypeGlobal Shutter
Max Sensor Resolution1280 x 800
Color Filter ArrayNone (Monochrome)
Resolution and Frame RateRAW8/RAW10: 640×480@260fps, 1280×720@144fps, 1280×800@120fps
Supported PlatformPi 4/3/Zero/CM3/CM4
OutputRAW8/RAW10
Focus TypeManual
Focus50cm~INF
Lensf/2.0; EFL: 1.69mm; FoV: 150° (D)
IR SensitivityBuild-in 650nm IR-cut filter, sensitive to visible light only
Dimensions25mm × 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=ov9281

      to /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.

Read More​