MultiSense SL

The MultiSense SL is a tri-modal (laser, 3D stereo, and video), high-resolution, high-data-rate, and high-accuracy 3D range sensor.  The sensor is suitable for use in a wide variety of robotics, automation, and sensing applications, such as autonomous vehicles, 3D mapping, and workspace understanding.  The MultiSense SL is packaged in a rugged, compact housing, along with a low-power FPGA processor, and is pre-calibrated at the factor.

The MultiSense SL is the sensor of choice for the Atlas humanoid robots in the DARPA Robotics Challenge (DRC). As the “head” of the humanoid, the SL provides the majority of perceptual data used for teleoperation as well as automated control. In the 2013 trials, 5 of the 8 top scoring teams used the Carnegie Robotics SL sensor head.

The MultiSense SL produces 3D point clouds from both the spinning laser and the stereo camera which are accurately aligned and colorized onboard the sensor.  The stereo sensor provides extremely dense “full frame” range data at high frame-rates, which is complemented by high accuracy data, at lower rates, from the spinning laser.  The sensor can also output standard color video.

The MultiSense SL combines a Hokuyo UTM-30LX-EW laser and a Carnegie Robotics MultiSense S7 high resolution stereo camera into a fused GigE device. The Hokuyo—which outputs 43,000 points per second—is axially rotated on a spindle at a user-specified speed. The stereo camera has a 7 centimeter baseline and can be configured with either a 2 or 4 megapixel sensor, making it the highest resolution commercial stereo camera available to date. On-board processing handles image rectification, stereo data processing, time synchronizing of laser data with a spindle encoder, spindle motor control, lighting timing, and managing the GigE interface. The GigE output includes time-synced laser and stereo data in a ready-to-use format. The advantages of this architecture are that a powerful external computer is not needed for stereo processing, and that the user does not need to provide stereo processing algorithms or stereo/laser calibration. Each MultiSense sensor ships fully calibrated from the factory.

The stereo portion of the MultiSense SL can find over 11 million feature matches every second. 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. If desired, the stereo point cloud can be augmented by overlaying color image data onto the point cloud—resulting in compelling, very low latency, life-like 3D data sets.

Our easy to use ROS-based API and tools allow you to view live image and 3D range data; adjust laser, camera, and stereo parameters; log data; playback logs; check the unit's calibration; and change the sensor's IP address.  An open-source C++ library and Gigabit Ethernet interface make it easy to integrate live data into your robot, vehicle, mobile equipment, lab environment, or other application.

As part of our development and design validation processes, Carnegie Robotics has subjected numerous sensors to a battery of vibration and thermal tests. Here, a MultiSense SL undergoes a vertical vibration test.

Carnegie Robotics has also thermally tested MultiSense SL units at both high and low extremes as part of our design validation process. Here an engineering sample unit is undergoing a operational test at 50C (122F) ambient.

Carnegie Robotics has also thermally tested MultiSense SL units at both high and low extremes as part of our design validation process. Here an engineering sample unit is undergoing a operational test at 50C (122F) ambient.

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
  • Protective grill for laser

Software Toolkits

  • C++ Library, BSD License
  • ROS Node, BSD Lisense
  • Configuration utilities (part of the C++ library)
MultiSense SL is a tri-modal range sensor providing laser range data, stereo range data and video output streams. 

MultiSense SL is a tri-modal range sensor providing laser range data, stereo range data and video output streams. 

The MultiSense SL sensor serves as the the perceptual "head" for the six Atlas robots in the DARPA Robotics Challenge. Five of these robots went on to place in the top 8 finishers in the 2013 trials.

Physical Details

Height18 cm
Width18 cm
Depth13 cm
Weight2.6 kg
Operating Temp-10°C to 50°C
Input Voltage24V DC nominal
18V to 28V max
Power Draw20W nominal
75W @ peak RPM /full lighting
InterfacesGigabit Ethernet
Opto-Isolated Input
Opto-Isolated Output

Stereo Details

AlgorithmSemi-global-matching
Range0.4m to 10m
Std LensFOV80° x 45°
Focal Length6.5mm
Output2 megapixel10 FPS, 240 disparities
0.5 megapixel30 FPS, 240 disparities
Depth Resolution@ 1m+/- 0.3 mm
@ 10m+/- 30 mm
Standard ImagerCMOSIS CMV2000, mono or color Bayer
Optional ImagerCMOSIS CMV4000, mono or color Bayer

Laser Details

ModelHokuyo UTM-30LX-EW
Laser905nm class 1 laser
Scan rate40 Hz
Field of view270 degrees
Angular resolution0.25 degrees (1081 samples per scan)
Detection range0.1m - 30m
Accuracy+/-30mm (0.1m-10m)
+/-50mm (10m-30m)
Multi-EchoUp to 3 returns per sample
IP ratingIP67

Please contact Carnegie Robotics (sales@carnegierobotics.com) for pricing and delivery or for pricing on custom fields-of-view or other design changes or technical inquires. 

Downloads

DescriptionSizeUpdate Date
Product Brochure4.4 MB2014-05-22
Interface Document

1.5 MB2014-03-22
Simplified CAD (Parasolid, STEP)

2.7 MB2014-07-07
SL Stand CAD

0.2 MB2016-04-01
Optional Face Mask CAD (STEP)

0.5 MB2014-08-15
MultiSense SL User Manual & ROS Manual

Available Accessories

NamePart NumberDescription
Developer Kit570-00016AC power supply, power & data breakout cabling
Case730-00000Reusable 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.