消费级深度相机详细参数对比

Kinect V1

Kinect V2

RealSense F200

RealSense R200

RealSense SR300

RealSense D415

RealSense D435

Leap Motion

Orbbec Astra

Orbeec Persee

Occipital Structure

ZED Stereo Camera

DUO MLX

Percipio.xyz

Company

http://www.k4w.cn/news/8.html

http://www.k4w.cn/news/1.html

https://software.intel.com/zh-cn/realsense/previous

https://software.intel.com/zh-cn/realsense/previous

https://software.intel.com/zh-cn/realsense/previous

https://ark.intel.com/zh-cn/compare/92256,92329,128256,128255

https://ark.intel.com/zh-cn/compare/92256,92329,128256,128255

https://www.leapmotion.com/product/desktop#108

https://orbbec3d.com/

https://orbbec3d.com/

https://structure.io/

https://www.stereolabs.com/zed/

https://duo3d.com/

http://www.percipio.xyz/

Released

Jun-11

Jul-14

Jan-15

Sep-15

Mar-16

Jan-18

Jan-18

Oct-12

Sep-15

Dec-16

Feb-14

May-15

May-13

Jul-16

Price

$100.00

$99.00

$99.00

$150.00

$149.00

$179.00

$100.00

$150.00

$240.00

$499.00

$449.00

$695.00

$245.00

Depth Measure

IR+structured light

TOF

IR+structured  light

Dual IR+ structured light

IR+structured  light

Active IR Stereo

Active IR Stereo

Dual IR

IR+structured  light

IR+structured  light

IR+structured  light

Stereo RGB cameras

Dual IR

Dual IR+ structured light

Range

0.4m-4m

0.4m-4.5m

0.2m-1.2m

0.5m-3.5m

0.3m-2m

0.16-10m

0.11-10m

0.025m-0.6m

0.6m-8m

0.6m-8m

0.4m-3.5m

0.5m-20m

0.3m-2.4m

0.25m-2m or 0.5m-10m

Field of  Vision

57°H×43°V

70°H×60°V

73°H×59°V

59°H×46°V

73°H×59°V

69.4×42.5(+/- 3°)

69.4×42.5 (+/- 3°)

135°

60°H×49.5°V

60°H×49.5°V

58°H×45°V

110°

170° Distortion<3%

60°H×46°V

Precision

0.5mm at 40cm(0.15%) 30mm at 3m(1%)

120mm baseline, 6 axis Pose Accuracy Posion:+/-1mm Orientation:0.1°

baseline 30.0mm

<1% z:5mm@1m x,y:10mm

RGB Image

640×480,30 FPS

1920×1080,30 FPS

1920×1080,30 FPS

1920×1080,30 FPS

1920×1080,30 FPS

Up to 1920×1080

Up to 1920×1080

1280×960,7 FPS 640×480,30 FPS 320×240,30 FPS

1280×720,30 FPS 640×480,30 FPS 320×240,30 FPS

IOS Camera resolution

1344×376,100 FPS 2560×720,60 FPS 3840×1080,30 FPS 4416×1242,15 FPS

2592×1944 1120×920  560×460

Depth Image

320×240,30 FPS

512×424,30 FPS

640×480,30 FPS

640×480,60 FPS

640×480,30 FPS

Up to 1280×720 Up to 90 FPS

Up to 1280×720 Up to 90 FPS

20 to 200+ FPS

640×480,30 FPS 320×240,30 FPS 160×240,30 FPS

640×480,30 FPS 320×240,30 FPS

640×480,30 FPS 320×240,60 FPS

1344×376,100 FPS 2560×720,60 FPS 3840×1080,30 FPS 4416×1242,15 FPS

configurable between 752×480,56 FPS and 320×120,320 FPS

1120×920  560×460

Connectivity

USB 2.0

USB 3.0

USB 3.0

USB 3.0

USB 3.0

USB 3 Type-C

USB 3 Type-C

USB 2.0

USB 2.0

USB 2.0

Lighting on IOS, USB elsewhere

USB 3.0

USB 2.0

USB 2.0

Phsical  Dimensions

280×64×38mm

250×66×67mm

110×12.5×3.75mm

101.6×9.6×3.8mm

110×12.5×3.75mm

99×20×23mm

90×25×25mm

76×30×17mm

165×30×40mm

172×63×56mm

119.2×28×29mm

175×30×33mm

52×25×13mm

124×24×64mm

Works Outdoors?

×

×

×

√

×

√

√

×

×

×

×

√

√

√

Skeleton  tracking?

√(two skeletons)

√(two skeletons)

×

×

×

×

√(only hand positions)

√

Facial tracking?

√

√

√

√

√

×

×

×

3D scaning?

√

√

√

√

√

×

×

×

√

√

√

3rd party

Gesture Tracking?

×(only via  thirdparttools)

√(Visual Gesture Builder)

×

×

×

√

×

×

×

×

×

3rd party

Gesture Detection?

√(hand grip, release,press, scroll)

√(hand open,closed,lasso)

√

×

√

√

×

×

√

×

×

3rd party

Toolkits?

OpenNI

Dense3D,OpenCV,Qt5

WPF,Cinder,OpenFrameworks,JavaScript,vvvv, Processing,Unity3D,more

Java,JavaScript, Processing,Unity3D, Cinder

Java,JavaScript, Processing,Unity3D,Cinder

WPF,Cinder,OpenFrameworks, JavaScript,vvvv, Processing, Unity3D,more

OpenNI

C++,Java,OpenNI,ROS

IOS,Unity3D,OpenNI

Java,JavaScript,Processing,Unity3D,Cinder

JavaScript,OculusRift,Unity3D,Unreal

OpenNI and native SDK for Win,Linux,Android

Project Examples

Many examples of skeleton tracking, face traching,and speech detection on a variety of different platforms and frameworks

Many examples of skeleton tracking, face traching,and speech detection on a variety of different platforms and frameworks

Many examples of face traching,gesture traching, speech detection on a variety of different platforms and frameworks

Various face tracking examples,mostly with C++, only one Unity3D sample

Various face tracking examples,mostly with C++, only one Unity3D sample

Various examples available for each of the lanugaes and platforms supported

HandViewer,Depth Date viewer, RGB Date Viewer

Depth Date viewer, RGB Date Viewer

Lots of examples on 3D scanning,mixed reality and indoor navigation

Background subtraction, right image disparity, depth map

Very few samples in each of the supported languages, mostly to get raw image and depth data

Moving Robotics, Industrial 3D measurement,3D scaning