ProductsCamerasZED - USB3

ZED USB 3 Specifications

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This page gathers the hardware specifications of the ZED 2i and ZED Mini USB 3 stereo cameras. The reference documents are the official ZED 2i and ZED Mini datasheets.

Image sensors

Both cameras are built around a pair of 1/3” 4 MP backside-illuminated rolling shutter sensors with large 2 µm pixels for good low-light sensitivity.

FeatureZED 2iZED Mini
Sensor type1/3” 4 MP CMOS1/3” 4 MP CMOS
Array size2688 x 1520 pixels per sensor2688 x 1520 pixels per sensor
Pixel size2 µm x 2 µm2 µm x 2 µm
ShutterElectronically synchronized rolling shutterElectronically synchronized rolling shutter
Image format16:916:9
Output resolution (side by side)2x(2208x1242) @15 fps (cropping mode)
2x(1920x1080) @15/30 fps (cropping mode)
2x(1280x720) @15/30/60 fps (binning 2x2 mode)
2x(672x376) @15/30/60/100 fps (binning 4x4 mode)		2x(2208x1242) @15 fps
2x(1920x1080) @30 fps
2x(1280x720) @60 fps
2x(672x376) @100 fps
Output formatYUV 4:2:2 - YUYV (8 bits)YUV 4:2:2 - YUYV (8 bits)
Max. S/N ratio38.3 dBNot published
Dynamic range64.6 dBNot published
Sensitivity1900 mV/Lux·sNot published
Camera controlExposure, analog and digital gain, gamma, white balance, saturation, sharpness, denoising, brightness, contrastResolution, frame rate, exposure time, white balance, gain, low-light sensitivity

Depth sensing

FeatureZED 2i - Wide lens (2.1 mm)ZED 2i - Narrow lens (4.6 mm)ZED Mini
Baseline120 mm (4.72”)120 mm (4.72”)63 mm (2.4”)
Depth range0.3 m to 20 m (0.98 ft to 65.6 ft)0.5 m to 35 m (1.6 ft to 114.8 ft)0.1 m to 15 m (0.3 ft to 49 ft)
Ideal range0.3 m to 12 m (0.98 ft to 39.4 ft)0.5 m to 20 m (1.6 ft to 65.6 ft)0.1 m to 9 m (0.3 ft to 29.5 ft)
Depth accuracy< 0.8% at 2 m (6.6 ft)
< 4% at 12 m (39.4 ft)		< 0.4% at 2 m (6.6 ft)
< 5% at 20 m (65.6 ft)		< 1.0% at 2 m (6.6 ft)
< 1.8% at 4 m (13.1 ft)
Depth resolutionNative video resolution (in Ultra mode)Native video resolution (in Ultra mode)Native video resolution (in Ultra mode)
Depth frame rateUp to 100 HzUp to 100 HzUp to 100 Hz
Object detectionUp to 20 m (3D)
Up to 40 m (2D)		Up to max. depth (3D)
Up to 55 m (2D)		Up to max. depth (3D)
Body trackingUp to max. depth (3D)Up to max. depth (3D)Up to max. depth (3D)

Depth is computed by the ZED SDK Depth Sensing module using the Neural Depth Engine.

Optics

ZED 2i lens options

The ZED 2i uses a wide-angle 8-element all-glass dual lens with optically corrected distortion. Both lens options are also available with a built-in CPL polarizing filter, which reduces glare and reflections outdoors.

FeatureWide lensNarrow lens
Focal length2.1 mm (0.083”)4.6 mm (0.18”)
Field of view110° (H) x 70° (V) x 120° (D)68° (H) x 38° (V) x 78° (D)
Aperturef/2.0f/2.0
Distortion< 5.07% (TV distortion)< -6.1% (TV distortion)
Lens coverPMMAPMMA

ZED Mini optics

FeatureValue
Lens type6-element all-glass dual lens
Focal length3.06 mm (0.12”)
Field of view102° (H) x 57° (V) x 118° (D)
Aperturef/2.0

Motion and environmental sensors

The ZED 2i is a 9-DoF multi-sensor platform: on top of the accelerometer and gyroscope, it embeds a magnetometer, a barometer and temperature sensors, all factory calibrated on 6 axes with robotic arms. The ZED Mini embeds an accelerometer and a gyroscope.

You can access all of them through the Sensors API of the ZED SDK.

Inertial measurement unit

FeatureZED 2iZED Mini
Accelerometer range± 8 GNot published
Accelerometer resolution0.244 mgNot published
Accelerometer noise density3.2 mgNot published
Gyroscope range± 1000 dpsNot published
Gyroscope resolution0.03 dpsNot published
Gyroscope noise density0.2 dpsNot published
Sensitivity error± 0.4%Not published
Output data rate400 Hz800 Hz

ZED 2i magnetometer

FeatureValue
Magnetic field range± 2500 µT (z)
± 1300 µT (x, y)
Field resolution0.3 µT
Output data rate10 Hz

ZED 2i barometer

FeatureValue
Pressure range300 to 1100 hPa
Pressure resolution0.18 Pa
Relative pressure accuracy0.12 hPa
RMS noise0.2 Pa
Output data rate25 Hz

ZED 2i temperature sensors

FeatureValue
Temperature range-40°C to 125°C (-40°F to 257°F)
Absolute temperature accuracy± 0.5°C
Output data rate25 Hz

Positional tracking

FeatureZED 2iZED Mini
Technology6-DoF visual-inertial stereo SLAM with sensor fusion and thermal compensationVisual-inertial stereo SLAM with sensor fusion
Pose update rateUp to 100 HzUp to 100 Hz
Pose accuracyNot publishedPosition: ± 1 mm
Orientation: 0.1°
Pose driftTranslation: 0.35%
Rotation: 0.005°/m (without loop correction)		Translation: 1.0%
Rotation: 0.013°/m (without loop correction)

Physical specifications

FeatureZED 2iZED Mini
Dimensions175.3 x 30.3 x 43.1 mm (6.90 x 1.19 x 1.70”)124.5 x 30.5 x 26.5 mm (4.9 x 1.2 x 1.0”)
Weight229 g (0.51 lb.)62.9 g (0.14 lb.)
Mounting1x 1/4”-20 UNC thread (bottom, max. length 7 mm)
2x M3x0.5 threads (bottom, max. length 10 mm)
4x M3 threads (back)		4x M2x0.4 threads (max. length 2.3 mm)
InterfaceUSB 3.0 Type-C with dual locking screws, external cable up to 10 m (32.81 ft)USB 3.0 Type-C port
IP ratingIP66None
Operating temperature-10°C to +45°C (14°F to 113°F) (1)0°C to +45°C (32°F to 113°F)
Storage temperature-30°C to +70°C (-22°F to 158°F)Not published
PowerPower via USB, typical consumption 1.9 W (0.38 A @ 5 VDC)Power via USB, typical consumption 1.9 W (0.38 A @ 5 VDC)
Warranty2-year hardware warranty2-year hardware warranty

(1) Depth precision can decrease below -10°C and above +45°C.

Technical drawings

ZED 2i technical drawings

System requirements

The ZED 2i and ZED Mini connect to the host over USB 3.0. See the Recommended Specifications for ZED SDK page for the up-to-date host requirements.

Minimum ZED SDK version

Camera modelMinimum ZED SDK version
ZED 2iv3.0
ZED Miniv3.0

Part numbers

ModelSKU
ZED 2i - Wide lens (2.1 mm), no polarizerZED-221110
ZED 2i - Wide lens (2.1 mm), with polarizerZED-221120
ZED 2i - Narrow lens (4.6 mm), no polarizerZED-222110
ZED 2i - Narrow lens (4.6 mm), with polarizerZED-222120
ZED MiniZED-121210

Standards and compliance

CertificateRegionZED 2iZED Mini
CE Declaration of ConformityEuropean UnionYesYes
REACHEuropean UnionYesYes
RoHS 3European UnionYesYes
TSCAUnited StatesYesYes
IP66GlobalYesNo
Certificate of OriginGlobalYesYes
FeatureValue
Country of originFrance
HS code85258940
ECCNEAR99

The compliance certificates are available on the StereoLabs certificates page.