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rc_visard 160 monochrome (in two variants)

The rc_visard 160 monochrome is the perfect sensor solution for both mobile applications and static mounting in a robot cell, when typical viewing distances exceed 50 cm and low-light conditions prevail.

  • Suitable for poor or variable lighting conditions
  • Designed for viewing distances of over 50 cm
  • Stereo and depth images as well as ego-motion
  • On-board processing, no external hardware required
  • Intuitive plug-and-play interfaces
  • NEW! Now available in a 6 mm-lense variant
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SKU: hw.rc03-1-1 Categories: , Tags: ,

Description

The rc_visard sensor family enables robots to generate and process time and location-related data in real time. The sensors support a variety of robot applications, ranging from bin-picking to navigation. The four versions of the rc_visard feature two different baselines (65 mm, 160 mm) and a color or monochrome acquisition capacity.

The rc_visard 160 monochrome is optimized for applications with a viewing distance greater than 50 cm that do not require color differentiation. The rc_visard 160 monochrome relies on cameras that are three times more light-sensitive than color cameras; hence it reliably works even in poor/variable lighting conditions.

NOTE that the rc_visard 160 monochrome is now available in two variants: The rc_visard 160m-6 features lenses with a focal length of 6 mm (rather than the standard 4 mm). This leads to a slightly smaller viewing area, but enables a higher resolution and accuracy. This can be useful for set-ups with rather large viewing distance. (Please refer to the tab ‘Additional Information’ for the detailed specifications.)

Using ego-motion estimations (VINS), the rc_visards determine their position and orientation with millimetric precision and very low latencies. The passive stereo sensor works in natural and artificial light as well as low-light conditions. Precise ego-motion data is generated reliably, even in case of vibrations.

All rc_visards come with the same on-board software package that can be further enhanced by optional components from the rc_reason software suite – e.g. SLAM, TagDetect or ItemPick. An intuitive web interface enables an easy set-up and configuration. Last, but not least, multiple sensors can easily operate without interference in the same work space.


Downloads and Links

Documentation

rc_visard QuickStart Guide (.pdf)
rc_visard product documentation (html)
rc_visard product documentation (.pdf)
rc_visard tutorials (html)

Discovery Tool

Tool for the discovery of Roboception’s rc_visard sensors via GigE Vision. This tool is required for detecting the rc_visards and perform factory resets.

Binaries: https://github.com/roboception/rcdiscover/releases

Source Code: https://github.com/roboception/rcdiscover

ROS Driver

The ROS driver for the rc_visard provides rectified images, disparity, confidence and error images in ROS format and can convert disparity images on-the-fly into depth images and colored point clouds. All image-related parameters can be controlled via dynamic reconfigure parameters. Additionally, poses from the rc_visard’s dynamics interface can be published on TF and as pose messages with additional information.

ROS: http://wiki.ros.org/rc_visard_driver

Source Code: https://github.com/roboception/rc_visard_ros

Convenience Layer

Roboception convenience layer around GenICam and GigE Vision as well as the dynamics interface of the rc_visard. The packages contain C++11 libraries and headers as programming interface as well as command line tools and examples for accessing and controlling the rc_visard.

Binaries:
https://github.com/roboception/rc_genicam_api/releases
https://github.com/roboception/rc_dynamics_api/releases

Source Code:
https://github.com/roboception/rc_genicam_api
https://github.com/roboception/rc_dynamics_api

CAD Data

.zip-file contains CAD data in .stl, .obj, .mtl  and .stp format:
rc_visard 65
rc_visard 160

Additional information

Baseline

160 mm

Mono / Color

Monochrome

Focal Length (Lense)

4 mm (standard), 6 mm (variant)

Shutter

Global

Field of View

Horizontal: 61° Vertical: 48° (standard)
Horizontal: 43° Vertical: 33° (6 mm variant)

Image Resolution & FPS

1280 x 960 Pixel @ 25 Hz

Workspace

0,5 m distance: 0,44 m x 0,45 m (standard) I 0,24 m x 0,30 m (6 mm variant)
1,0 m distance: 1,04 m x 0,90 m (standard) I 0,64 m x 0,60 m (6 mm variant)
2,0 m distance: 2,24 m x 1,80 m (standard) I 1,44 m x 1,20 m (6 mm variant)
3,0 m distance: 3,44 m x 2,70 m (standard) I 2,24 m x 1,80 m (6 mm variant)

Depth Resolution

0,1 mm @ 0,5 m (standard) I 0,06 mm @ 0,5 m (6 mm variant)
0,4 mm @ 1,0 m (standard) I 0,3 mm @ 1,0 m (6 mm variant)
1,5 mm @ 2,0 m (standard) I 1,0 mm @ 2,0 m (6 mm variant)
3,3 mm @ 3,0 m (standard) I 2,2 mm @ 3,0 m (6 mm variant)

Depth Image Resolution & FPS

1280×960 Pixel (F) @ 0,8 Hz
640×480 Pixel (H) @ 3 Hz
320×240 Pixel (M) @ 15 Hz
214×160 Pixel (L) @ 25 Hz

Ego-motion

200 Hz, low latency

Computing Unit

Nvidia Tegra K1

Interfaces

Web GUI, Rest API, GenICam, GigEVision 2.0, UDP based ego-motion interface

Connectors

8-pin A-coded M12 socket for GigE
8-pin A-coded M12 plug for GPIO and power

Dimensions

230 x 84 x 75 mm

Weight

850 g

Power Supply

18-30 V

Temperature Range

0 °C – 50 °C (passive cooling)

Protection Class

IP54