MultiSense S7 and S7S

MultiSense S7 is a high-resolution, high-data-rate, and high-accuracy 3D range sensor.  Unlike many 3D sensors, MultiSense S7 provides instantaneous vertical and horizontal fields of view (FOV) along with color information for every range point found.  

It is the first commercially available stereo camera in which all of the stereo processing happens inside the sensor itself. No powerful external computer is needed, and no knowledge of stereo processing or calibration is either as the MultiSense S7 ships calibrated from Carnegie Robotics.

Our easy to use ROS-based API and tools allow you to view live image and 3D range data, adjust camera and stereo parameters, log data, playback those logs, check the unit's calibration, and change the sensor's IP address.  

The open source C++ library and Gigabit Ethernet interface make it easy to integrate live MultiSense S7 data into your robot, vehicle, mobile equipment, lab environment, or any other application.  

MultiSense S7 is a compact and accurate 3D range sensor


How does stereo work?

Stereo algorithms onboard the MultiSense S7 transform left and right images into 3D depth maps and point clouds at 15 FPS or more. The data shown above is from a single frame of MultiSense S7 data, collected and processed in 1/15 of a second.

On-board stereo algorithms search for matching visual features between left and right camera images, this search is done for each and every pixel in the images.

For a given feature, the difference in horizontal pixel locations maps inversely to distance.  For example, features that are very far away would have the same location in the two cameras, while features nearby may have a shift of 200 pixels.

A precise calibration process, performed at Carnegie Robotics, creates the necessary information to transform the pixel level information into an accurate range measurement, while also compensating for lens distortion, small variations in lens alignment, and other manufacturing tolerances.

The MultiSense S7 can find over 11 million feature matches every second which results in high frame-rate and dense 3D range information.

See the MultiSense S7 in action--This clip shows a real-time, colorized, 3-D point cloud generated by the sensor.


Technical Details

Physical Details

Height6.5 cm
Width13 cm
Depth13 cm
Weight1.2 kg
Temperature Range-10°C to 50°C
Input Voltage24V DC nominal
18V to 48V max
Power Draw8W nominal
20W with full lighting
Physical InterfacesGigabit Ethernet
Opto-Isolated Input
Opto-Isolated Outout

Stereo Details

AlgorithmSemi-global-matching
Min Range~0.4m (varies with resolution and search window)
Standard LensFOV80° x 45°
Focal Length6.5mm
Output2 megapixel7.5 FPS, up to 128 disparities
1 megapixel15 FPS, up to 128 disparities
0.5 megapixel30 FPS, up to 128 disparities
Standard ImagerCMOSIS CMV2000, mono or color Bayer
Optional ImagerCMOSIS CMV4000, mono or color Bayer

Available Options

  • CMV4000, 4 megapixel imager, 80° x 80° FOV with standard lens
  • Greyscale or color imager (with or without IR cut filter)
  • Lenses with narrower and wider FOV

Software Toolkits

  • C++ Library, BSD License
  • ROS Node, BSD License
  • Configuration binaries (part of C++ library)

Available Accessories

NamePart #Description
Developer Kit570-00016AC power supply, power & data breakout cabling
Case730-00001Reusable padded shipping and storage case
Extension Cable570-00043-XXFor the Developer Cable, replace XX with length in feet, 10' to 50'

Please contact sales@carnegierobotics.com to place orders, for formal quotations, or for pricing on custom fields-of-view or other design changes.
All sales are subject to Carnegie Robotics' standard terms and conditions.

Other Stereo Products

NamePart #Description
MultiSense S21100-00033Wider optical baseline, 21cm
MultiSense S7HT100-00019Extended temperature version, operates at up to 65°C (under development)
MultiSense S7C1100-00025Class 1 Hazardous Location rated (under development)
MultiSense SL100-00009Standard 7cm stereo combined with rotating laser unit

The MultiSense-S7S is about 1" shorter front to back than the MultiSense-S7. Its main I/O connector is on the underside of the stereo head and it does not have onboard lighting like the standard S7. The S7S was designed for a human wearable application and its extremely compact design brings high quality stereo sensing to other volume-constrained environments.


Environmental Testing

Vibration

Engineering samples of the MultiSense S7 have passed extended MIL-STD-810G vibration and shock tests and show no change in range measurements and no calibration drift from before the tests to after.  

Vibration Test Details

  • Method: MIL-STD-810G, 514.6 Annex C, General Vibration for Ground Vehicles
  • Frequency: 5 Hz to 500 Hz
  • Vertical Axis: 2.24 g RMS
  • Transverse Axis: 1.48 g RMS
  • Longitudinal Axis: 1.90 g RMS  
  • Engineering Unit Test Duration: 2 hr per axis

 

 

Temperature

Production units go through a extended burn in and temperature test where unit functionality is verified after dwells at -10°C ambient and 50°C ambient.  

Sealing

All units are pressure checked through the Schrader valve on the back of MultiSenseS7.  This ensures that all o-rings are installed and performing correctly.

The Schrader valve can also be used to nitrogen fill the sensor head (5 PSI max pressure) which helps prevent window fogging during rapid and extreme temperature changes.   In most applications this is not required.

EMI

The MultiSense S7 was designed with MIL-STD-461 best practices to reduce EMI emissions and maintain performance in RF-rich environments.