深度相机的统计与选型

Sensor	Type	Distance	Depth FoV (HxVxD)	Depth Resolution@fps	RGB FoV (HxVxD)	RGB Resolution@fps	Power Supply	SDK	Power Consuption	Environment	IMU
Kinect V1	Structured Light	0.8-4m	57°x43°	640x480@30fps	57°x43°	640x480@30fps	USB 2.0	Kinect SDK V1	12W	Indoor	×
Kinect V2	Time of Flight	0.5-4.5m	70°x60°	512x424@30fps	84.1°x53.8°	1920x1080@30fps	USB 3.0	Kinect SDK V2	15W	Indoor & Outdoor	×
Kinect Azure DK	Time of Flight	0.25 - 2.21m	120°x120°	1024x1024@15fps	90°x74.3°	4096x3072@15fps	USB 3.0 and external	Realsense SDK	5.9W	Indoor & Outdoor	√
Astra +	Structured Light	0.6m – 8m	60°x49.5°x73°	640 x 480 @30fps	60°x49.5°x73°	1280 x 720 @30fps	USB 2.0	Astra SDK or OpenNI	< 2.4 W	Indoor	×
Astra Femto	Time of Flight	0.25m -5m	64.6°x50.8°x78°	640 x 480 @30fps	86.2°x55.2°x94.2	1920 x 1080 @30fps	USBC	Astra SDK or OpenNI	5.8W & Outdoor	Indoor	×
Astra Series	Structured Light	0.6m – 8m	60°x49.5°x73°	640 x 480 @30fps	60°x49.5°x73°	640 x 480 @30fps	USB 2.0	Astra SDK or OpenNI	< 2.4 W	Indoor	×
ZR300	Active Stereoscopy	0.55-2.8m	59°x46°x70°	640x480@30fps	68°x41.5°x75°	1920x1080@30fps	USB 3.0	Realsense SDK	<2W	Indoor & Outdoor	√
D415	Active Stereoscopy	0.5-3m	65°×40°	1280×800@30fps	69°×42°	1920 × 1080@30fps	USBC	Realsense SDK	3.5W	Indoor & Outdoor	×
D435	Active Stereoscopy	0.3-3m	87° × 58°	1280×800@30fps	69°×42°	1920 × 1080@30fps	USBC	Realsense SDK	3.5W	Indoor & Outdoor	×
D435i	Active Stereoscopy	0.3-3m	87° × 58°	1280×800@30fps	69°×42°	1920 × 1080@30fps	USBC	Realsense SDK	3.5W	Indoor & Outdoor	√
D455	Active Stereoscopy	0.6-6m	87° × 58°	1280×800@30fps	90 × 65°	1280 × 800@30fps	USBC	Realsense SDK	3.5W	Indoor & Outdoor	√
SR300	Coded Light	0.2-1.5m	73°x59°x90°	640x480@60fps	68°x41.5°x75°	1920 × 1080@30fps	USB 3.0	Realsense SDK	1.8W	Indoor & Outdoor	√
Xtion 2	Structured Light	0.8-3.5m	58°x45°x70°	640x480@30fps	58°x45°x70°	1280x1024@30fps	USB 2.0	OpenNI	<2.5W	Indoor	×
ZED 2	Stereo Depth	0.2 - 20 m	110°x70°x 120°	4416x1242@15fps	110°x70°x 120°	4416x1242@15fps	USB 3.0	ZED SDK or PCL	2W	Indoor & Outdoor	√
ZED mini	Stereo Depth	0.1 - 15 m	90°x60°x 100°	4416x1242@15fps	90°x60°x 100°	4416x1242@15fps	USBC	ZED SDK or PCL	2W	Indoor & Outdoor	√
ZED 2i	Stereo Depth	0.2m - 20 m	110° x 70°x 120°	4416x1242@15fps	90°x60°x 100°	4416x1242@15fps	USB 3.0	ZED SDK or PCL	24W	Indoor & Outdoor	×
LIPSEdge DL	Time of Flight	1m-4m	74.2°x58.1°x88°	640x480@30fps	79.1° x 50° x 88°	1920x1080@30fps	USB 3.0	Open NI	6w	Indoor	×
L515	LiDAR Camera	0.25-9m	70° × 55°	1024x768@30fps	69° × 42°	1920x1080@30fps	USB 3.0	Realsense SDK	5W	Indoor	√