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.
How does stereo work?
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.
|Temperature Range||-10°C to 50°C|
|Input Voltage||24V DC nominal |
18V to 48V max
|Power Draw||8W nominal |
20W with full lighting
|Physical Interfaces||Gigabit Ethernet|
|Min Range||~0.4m (varies with resolution and search window)|
|Standard Lens||FOV||80° x 45°|
|Output||2 megapixel||7.5 FPS, up to 128 disparities|
|1 megapixel||15 FPS, up to 128 disparities|
|0.5 megapixel||30 FPS, up to 128 disparities|
|Standard Imager||CMOSIS CMV2000, mono or color Bayer|
|Optional Imager||CMOSIS CMV4000, mono or color Bayer|
- 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
- C++ Library, BSD License
- ROS Node, BSD License
- Configuration binaries (part of C++ library)
|Developer Kit||570-00016||AC power supply, power & data breakout cabling|
|Case||730-00001||Reusable padded shipping and storage case|
|Extension Cable||570-00043-XX||For the Developer Cable, replace XX with length in feet, 10' to 50'|
All sales are subject to Carnegie Robotics' standard terms and conditions.
Other Stereo Products
|MultiSense S21||100-00033||Wider optical baseline, 21cm|
|MultiSense S7HT||100-00019||Extended temperature version, operates at up to 65°C (under development)|
|MultiSense S7C1||100-00025||Class 1 Hazardous Location rated (under development)|
|MultiSense SL||100-00009||Standard 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.
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
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.
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.
The MultiSense S7 was designed with MIL-STD-461 best practices to reduce EMI emissions and maintain performance in RF-rich environments.