ProductsCamerasZED X One - GMSL2

ZED X One Specifications

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This page gathers the hardware specifications of the ZED X One GS, ZED X One 4K and ZED X One S monocular cameras. The reference documents are the official ZED X One datasheets.

For the barebone MIPI version of the camera, see the ZED X One Core specifications.

Image sensor

The ZED X One GS and ZED X One S are built around an AR0234 1/2.6” 2.3 MP RGB global shutter sensor, which provides good low-light capabilities and distortion-free images of fast-moving objects. The ZED X One 4K uses a 1/1.8” 8.4 MP rolling shutter sensor with HDR technology, for applications that require maximum visual detail.

FeatureZED X One GSZED X One 4KZED X One S
Sensor type1/2.6” 2.3 MP RGB1/1.8” 8.4 MP CMOS1/2.6” 2.3 MP RGB
Array size1928 x 1208 pixels3856 x 2180 pixels1928 x 1208 pixels
Pixel size3 µm x 3 µm2 µm x 2 µm3 µm x 3 µm
Chief Ray Angle (CRA)0°0°0°
Recommended lens CRA0° ± 3°0° ± 10°0° ± 3°
ShutterElectronically synchronized global shutterRolling shutterElectronically synchronized global shutter
Image format16:1016:916:10
Output resolution1920x1200 @15/30/60 fps
1920x1080 @15/30/60 fps (cropping mode)
960x600 @15/30/60/120 fps (binning mode)		3840x2160 @15 fps
1920x1080 @15/30/60 fps (cropping mode)
960x600 @15/30/60/120 fps (binning mode)		1920x1200 @15/30/60 fps
1920x1080 @15/30/60 fps (cropping mode)
960x600 @15/30/60/120 fps (binning mode)
Output formatRAW10 (V4L2) / NV21 (Argus)RAW12 (V4L2) / YUV 4:2:2 (Argus)RAW10 (V4L2) / NV21 (Argus)
Max. S/N ratio38 dB≥ 41 dB38 dB
Dynamic range71.4 dB85 dB71.4 dB
Sensitivity22.3 Ke/Lux·s15886 Digit/Lux·s22.3 Ke/Lux·s
Camera controlExposure, analog and digital gain, gamma, white balance, saturation, sharpness, denoising, brightness, contrastExposure, analog and digital gain, gamma, white balance, saturation, sharpness, denoising, brightness, contrastExposure, analog and digital gain, gamma, white balance, saturation, sharpness, denoising, brightness, contrast

All three models support hardware synchronization of multiple connected cameras at frame level within 15 µs.

Optics

ZED X One GS and ZED X One S lens options

FeatureFisheye lensWide lensNarrow lens
Focal length1.38 mm (0.054”)2.2 mm (0.086”)4.6 mm (0.18”)
Field of view204° (H) x 137° (V) x 218° (D)110° (H) x 80° (V) x 120° (D)73° (H) x 45° (V) x 87° (D)
Aperturef/2.0f/2.2f/2.0
Distortion+18.8% (F-θ)< 4.39%-6.7%
AvailabilityZED X One S onlyZED X One GS and ZED X One SZED X One GS and ZED X One S

The IP69K rating of the ZED X One S applies to the Wide lens model only.

ZED X One 4K optics

FeatureWide lens
Focal length3.1 mm (0.122”)
Field of view110° (H) x 72° (V) x 119° (D)
Aperturef/2.0
Distortion< 5.85% (TV distortion)

Motion sensor

All three models integrate a BOSCH BMI088 IMU, a high-performance 6-axis inertial sensor with a 16-bit triaxial accelerometer and gyroscope, providing orientation and motion detection of the camera. Its high vibration robustness and temperature stability make it suitable for harsh industrial robotics environments.

FeatureValue
Motion sensorBOSCH BMI088 IMU
Accelerometer range± 12 G
Accelerometer resolution0.36 mg
Accelerometer noise density2.3 mg
Gyroscope range± 1000 dps
Gyroscope resolution0.03 dps
Gyroscope noise density0.20 dps
Sensitivity error± 0.5%
Output data rate200 Hz

You can access the sensor data through the Sensors API of the ZED SDK.

Sensor positions

The offset values specify the location of the IMU origin with respect to the center of the image plane.

ModelX offsetY offsetZ offset
ZED X One GS0 mm0 mm-5.92 mm
ZED X One 4K0 mm0 mm-6.57 mm
ZED X One S-7.07 mm1.96 mm-5.92 mm

ZED X One GS sensor positions

For the ZED X One 4K, the image plane to glass cover distance is 1.03 mm and the sensor thickness is 1.95 mm.

Physical specifications

FeatureZED X One GSZED X One 4KZED X One S
DimensionsNarrow lens: 31 x 31 x 49.3 mm (1.22 x 1.22 x 1.94”)
Wide lens: 31 x 31 x 52.5 mm (1.22 x 1.22 x 2.07”)		31 x 31 x 58.2 mm (1.22 x 1.22 x 2.29”)Narrow lens: 25 x 25 x 35.7 mm (0.98 x 0.98 x 1.41”)
Wide lens: 25 x 25 x 39.0 mm (0.98 x 0.98 x 1.54”)
Fisheye lens: 25 x 25 x 34.2 mm (0.98 x 0.98 x 1.34”)
WeightNarrow lens: 50 g (0.11 lb.)
Wide lens: 55 g (0.12 lb.)		59 g (0.12 lb.)Narrow lens: 33 g (0.07 lb.)
Wide lens: 37 g (0.08 lb.)
Fisheye lens: 36 g (0.08 lb.)
Mounting4x M4x0.7 threads (bottom) + 1/4”-20 UNC adapter plate4x M4 threads (bottom) + 1/4”-20 UNC adapter plateBottom: 2x M2x0.4x4 mm and 2x M2x0.4x1.2 mm
Front: 4x M2x0.4x6 mm
InterfaceGMSL2, serial coax FAKRA Z type connectorGMSL2, serial coax FAKRA Z type connectorGMSL2, serial coax FAKRA Z type connector
IP ratingNoneNoneIP69K (Wide lens only)
Operating temperature-20°C to +55°C (-4°F to 131°F)Not published-20°C to +60°C (-4°F to 140°F)
Relative humidity90% at 40°CNot published90% at 40°C
VibrationsNot publishedNot published2 g RMS @ 3-500 Hz, 1 h/axis
PowerPower via GMSL2 (PoC), 0.89 W (12 VDC)Power via GMSL2 (PoC), 0.92 W (12 VDC)Power via GMSL2 (PoC)
Typical consumption: 0.89 W (0.074 A @ 12 VDC)
Power supply ratingsNot publishedNot published5 V to 20 V
Warranty2-year hardware warranty2-year hardware warranty2-year hardware warranty

Technical drawings

ZED X One GS narrow lens technical drawings

System requirements

The ZED X One cameras require an NVIDIA® Jetson™ host equipped with a ZED Link Mono, Duo or Quad capture card for their GMSL2 connection. See the Recommended Specifications for ZED SDK page for the up-to-date host requirements.

On a ZED Link Quad capture card, up to 8 ZED X One GS or ZED X One S cameras can be captured at 1920x1200 @30 fps, or up to 4 ZED X One 4K cameras at 3840x2160 @15 fps.

Minimum ZED SDK version

Camera modelMinimum ZED SDK version
ZED X One GSv4.2
ZED X One 4Kv4.2
ZED X One Sv4.2

Part numbers

ModelSKU
ZED X One GS - No lensZED-411010
ZED X One GS - Wide lens (2.2 mm)ZED-412010
ZED X One GS - Narrow lens (4.6 mm)ZED-413010
ZED X One 4K - No lensZED-421010
ZED X One 4K - Wide lens (3.1 mm)ZED-422010
ZED X One S - No lensZED-411012
ZED X One S - Wide lens IP69K (2.2 mm)ZED-412012
ZED X One S - Narrow lens (4.6 mm)ZED-413012
ZED X One S - Fisheye lens (1.38 mm)ZED-414012

Standards and compliance

CertificateRegionZED X One GSZED X One 4KZED X One S
CE Declaration of ConformityEuropean UnionYesYesYes
REACHEuropean UnionYesYesYes
RoHS 3European UnionYesYesYes
TSCAUnited StatesYesYesYes
EMCEuropean UnionYesNoYes
FCCUnited StatesNoNoYes
Certificate of OriginGlobalYesYesYes
FeatureValue
Country of originFrance
HS code85258940
ECCNEAR99

The compliance certificates are available on the StereoLabs certificates page.