State-of-the-Art Devices Comparison

In this section, we present a non-exhaustive list of the most important Three-dimension (3D) camera sensors, devices and solutions available for the mass market. An overview of the main characteristics is provided in Table 3.1. Table 3.1 Comparison of the main 3D camera commercially available Range Frame Field of Device Technology (m) Resolution rate (fps) view PMD CamCube 2.0™ Time-of-Flight 0–13 200 × 200 80 40° × 40° PMD CamBoard™ Time-of-Flight 0.1–4.0 224 × 171 45 62° × 45° MESA SR 4000™ Time-of-Flight 0.8–8.0 176 × 144 30 69° × 56° MESA SR 4500™ Time-of-Flight 0.8–9.0 176 × 144 30 69° × 55° ASUS Xtion™ Structured-light 0.8–4.0 640 × 480 30 57° × 43° Occipital™ Structured-light 0.8–4.0 640 × 480 30 57° × 43° Sense 3D scanner™ Structured-light 0.8–4.0 640 × 480 30 57° × 43° Kinect V1™ Structured-light 0.8–4.0 640 × 480 30 57° × 43° Kinect V2™ Time-of-Flight 0.5–4.5 512 × 424 30 70° × 60° Creative Senz 3D™ Time-of-Flight 0.15–1.0 320 × 240 60 74° × 58° SoftKinetic DS325™ Time-of-Flight 0.15–1.0 320 × 240 60 74° × 58° Google Tango™ Phone Time-of-Flight − − − − Google Tango™ Tablet Structured-light 0.5–4.0 160 × 120 10 − Orbbec Astra S™ Structured-light 0.4–2.0 640 × 480 30 60° × 49.5° Intel SR300™ Structured-light 0.2–1.5 640 × 480 90 71.5° × 55° Intel R200™ Active stereoscopy 0.5–6.0 640 × 480 90 59° × 46° Intel Euclid™ Active stereoscopy 0.5–6.0 640 × 480 90 59° × 46° Intel D415™ Active stereoscopy 0.16–10 1280 × 720 90 63.4° × 40.4° Intel D435™ Active stereoscopy 0.2–4.5 1280 × 720 90 85.2° × 58° StereoLabs ZED™ Passive stereoscopy 0.5–20 4416 × 1242 100 110°(diag.)