Sensors Overview

While the ZED camera relies on visual odometry, the ZED Mini and ZED 2 are assisted by motion sensors like an accelerometer and a gyroscope. The ZED 2 even contains additional environmental sensors: a magnetometer, a barometer and temperature sensors.

The sensors can be used to detect camera movements, compute the camera orientation according to the north magnetic pole, detect relative altitude variations, infer external weather conditions, and much more.

Sensors

The ZED SDK platform supports several categories of sensors:

Output Data

The following information is accessible from the camera sensor stack:

Output Data Description Units
Accelerometer, Gyroscope (IMU)
linear_acceleration 3x1 Vector for linear acceleration of the IMU given in m/s2. Values are corrected from bias, scale and misalignment. m/s2
linear_acceleration_uncalibrated 3x1 Vector for linear acceleration of the accelerometer, given in m/s2. Values are not corrected from bias, scale nor misalignment. m/s2
linear_acceleration_covariance 3x3 Covariance matrix for the uncalibrated linear acceleration of the accelerometer.
angular_velocity 3x1 Vector for angular velocity of the gyroscope, given in deg/s. Values are corrected from bias, scale and misalignment. deg/s
angular_velocity_uncalibrated 3x1 Vector for angular velocity of the gyroscope, given in deg/s. Values are not corrected from bias, scale nor misalignment. deg/s
angular_velocity_covariance 3x3 Covariance matrix for the uncalibrated angular velocity of the gyroscope.
pose IMU pose extracted from the fusion of the accelerometer and gyroscope measurements. Represented as a Transform.
pose_covariance 3x3 Covariance matrix for pose orientation.
Barometer
pressure Ambient air pressure. hPa
relative_altitude Relative altitude (altitude variation) from initial camera position. meters
Magnetometer
magnetic_field_calibrated 3x1 Vector for the magnetic field.
Values are corrected from bias and distortions.
μT
magnetic_field_uncalibrated 3x1 Vector for the magnetic field.
Values are not corrected from bias nor distortions.
μT
Temperature Sensors
temperature_map[ONBOARD_LEFT] Temperature of the onboard temperature sensor located next to the left image sensor. °C
temperature_map[ONBOARD_RIGHT] Temperature of the onboard temperature sensor located next to the right image sensor. °C
temperature_map[IMU] IMU temperature. °C
temperature_map[BAROMETER] Barometer temperature. °C

To access these values, check out the Using the API section.

Sensors Availability

Sensor ZED 2 ZED Mini ZED
Accelerometer
Gyroscope
Magnetometer
Barometer
Temperature sensors