The Bumblebee® XB3 is a 3-sensor multi-baseline IEEE-1394b (800Mb/s) stereo
camera designed for improved flexibility and accuracy. It features 1.3
mega-pixel sensors and has two baselines available for stereo processing. The
extended baseline and high resolution provide more precision at longer ranges,
while the narrow baseline improves close range matching and minimum-range
limitations.
Sensor: Three Sony 1/3" progressive scan CCDs,
Color/BW
Resolution and FPS : 1280x960 at
15FPS
Lenses: 3.8mm (70° HFOV) or 6mm (50° HFOV) focal
length
Calibration: Pre-calibrated to within 0.1 pixel RMS
error
General Purpose IO: GPIO pins for external trigger /
strobe
*Based on a stereo resolution of 640x480 and is valid for all camera
models. Calibration accuracy will vary from camera to camera.
Bumblebee
XB3 Product Datasheet
Product Specifications
| SPECIFICATION |
BB2-03S2 |
BB2-08S2 |
BBX3 |
|
Sony® 1/3” progressive scan CCD |
| Image Sensor Type |
ICX424 (648x488 max pixels) |
ICX204 (1032x776 max pixels) |
ICX445 (1280x960 max pixels) |
|
7.4µm square pixels |
4.65µm square pixels |
3.75µm square pixels |
| Baseline |
12 cm |
12 cm and 24 cm |
| Aperture |
f/2.0 (or f/2.5) |
f/2.0 (or f/2.5) |
f/2.0 (or f/2.5) |
| Focal Lengths |
2.5mm with 97° HFOV (BB2 only) / 3.8mm with 66° HFOV /
6mm with 43°
HFOV |
| Aperture |
f/2.0 (2.5mm and 3.8mm focal length), f/2.5 (6.0mm focal
length) |
| A/D Converter |
12-bit analog-to-digital converter |
| White Balance |
Automatic / Manual (Color model) Manual (Color model)
|
| Frame Rates |
48 FPS |
20 FPS |
16 FPS |
| Interfaces |
6-pin IEEE-1394a for camera control and video data
transmission / 4 general-purpose digital input/output (GPIO) pins |
2 x 9-pin IEEE-1394b for camera control and video data
transmit / 4 general-purpose digital input/output (GPIO)
pins |
| Voltage Requirements |
8-30V via IEEE-1394 interface or GPIO connector
|
| Power Consumption |
2.5W at 12V |
4W at 12V |
| Gain |
Automatic/Manual |
| Shutter |
Automatic/Manual, 0.01ms to 66.63ms at 15 FPS
|
| Trigger Modes |
DCAM v1.31 Trigger Modes 0, 1, 3, and 14 |
DCAM v1.31 Trigger Modes 0, 1, 3, and 14 |
| Signal To Noise Ratio |
60dB |
54dB |
| Dimensions |
157 x 36 x 47.4mm |
277 x 37 x 41.8mm |
| Mass |
342 grams |
505 grams |
| Camera Specification |
IIDC 1394-based Digital Camera Specification v1.31
|
| Lens mount |
2 x M12 microlens mount |
3 x M12 microlens mount |
| Emissions Compliance |
Complies with CE rules and Part 15 Class A of FCC Rules
|
| Operating Temperature |
Commercial grade electronics rated from 0° to 45°C |
| Storage Temperature |
-30° to 60°C |
| Image Acquisition |
- 12-bit analog-to-digital converter
- Multiple cameras on the same 1394 bus automatically sync
- Overlapped trigger input, image acquisition and
transfer
|
| Camera and Device Control |
- Broadcast settings to all cameras on the same bus
- Reports the temperature near the imaging sensor
- Monitors sensor voltages to ensure optimal image quality
- Fine-tune frame rates for video conversion (e.g. PAL, NTSC)
- Non-volatile storage of camera default settings and user data
- General purpose input/output pins for external device control
- Firmware upgradeable in field via IEEE-1394 interface.
|
| Camera Calibration |
- Pre-calibrated for lens distortions and camera misalignments. The
camera works straight out of the box, as it doesn't require in-field
calibration and is guaranteed to stay calibrated.
- Images are aligned within 0.05 pixel RMS error.
- The calibration information is pre-loaded on the camera, allowing
the software to retrieve the image correction information. This allows
seamless swapping of the cameras, or retrieving the correct information
when multiple cameras are on the bus.
- The calibration retention system prevents the unit from losing
calibration when the device is subject to mechanical shock and
vibration
|
| BW vs Color |
- Benefits of Black & White
- Speed: BW models are slightly faster
than color due to the time it takes the color model to convert
stippled images into color images.
- Higher Resolution: Color is achieved by
interpolating raw pixel values. Consequently, BW has higher
resolution.
- Higher Fidelity: Due to the light
collection methods used by color cameras, BW has higher
fidelity.
- Benefits of Color
- Color Differentiation: Being able to
differentiate between different colors could allow a mobile robot to,
for example, distinguish a red ball from its surroundings.
- Color Texture Mapping: Users interested
in using the device for 3D modeling will probably be interested in
having full color texture maps.
|
Development
Kit ContentsThe
following items are included in the Bumblebee XB3 Development Accessory
Kit:
- 4.5 meter, 9-pin to 9-pin locking IEEE-1394b cable
- 4.5 meter, 6-pin to 9-pin locking IEEE-1394a to 1394b cable
- IEEE-1394b OHCI PCI Host Adapter 2 port-800 Mbps card
- Hirose HR10 12-pin male GPIO connector pre-wired for easy triggering
- FlyCapture SDK and Triclops SDK CD
Emissions and RoHS
Compliance
FCC
/ CE Compliance
This equipment has been tested and found to comply with the limits for a
Class A digital device, pursuant to Part 15 of the FCC Rules. These limits are
designed to provide reasonable protection against harmful interference when the
equipment is operated in a commercial environment. This equipment generates,
uses, and can radiate radio frequency energy and, if not installed and used in
accordance with the instruction manual, may cause harmful interference to radio
communications. Operation of this equipment in a residential area is likely to
cause harmful interference in which case the user will be required to correct
the interference at his own expense.
You are cautioned that any changes or modifications not expressly approved in
this manual could void your authority to operate this equipment.
RoHS / WEEE Compliance
This product is RoHS and WEEE
compliant.
