VOXL Time of Flight (TOF) Depth Sensor
Achieve High-Fidelity Depth Mapping Indoors
The PMD Time of Flight (ToF) sensor produces high-fidelity depth mapping indoors up to 6m. When used with the VOXL platform, this sensor is mutually exclusive to the stereo cameras, meaning the stereo cameras need to be replaced with the TOF Add-on.
Note, due to sourcing issues this module is EOL and in limited supply. We are working on a replacement module that will have better performance. We expect the new module to be available by the end of 2023.
PMD Time-of-Flight (ToF) module for VOXL development platform.
Use in place of stereo image sensors for indoor-optimized depth maps in low-feature environments.
ToF Real-Time Depth Sensing and Mapping
Ready to Use Development Depth Sensor
Specs at a glance:
| Rate | 5 - 45FPS in configurable option modes for distance / accuracy / framerate |
| Exposure Time | 4.8 ms typ. @ 45 fps / 30 ms typ. @ 5 fps |
| Resolution | 224 x 171 (38k) px |
| FOV (H x V) | 117° x 117° (near field 100° x 80°) |
| Range | 4 - 6m |
| Depth Resolution | <= 1% of distance (0.5 – 4m @ 5fps) <= 2% of distance (0.1 – 1m @ 45fps) |
Demo Videos
VOXL with PMD's Time of Flight Enables Small, Fully-Autonomous UAVs with ROS and PX4
Autonomous Mapping fuses Visual Inertial Odometry with Time Of Flight Depth Sensing on a Drone
Technical Details
Sample Code to access TOF Data on VOXL: here
Note: A lens cover is required for integration into a final product. This kit is for development integration with VOXL only.
ModalAI Part Numbers
| MPN | Description |
| MSU-M0040-1-01 |
VOXL Time of Flight (TOF) Depth Sensor kit which contains:
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