ZED X Specifications

This page gathers the hardware specifications of the ZED X, ZED X Mini and ZED X Nano GMSL2 stereo cameras. The reference documents are the official ZED X / ZED X Mini and ZED X Nano datasheets.

Image sensors

The three cameras share the same dual 1/2.6” 2.3 MP RGB global shutter sensors, which provide good low-light capabilities and distortion-free images of fast-moving objects.

Feature	Value
Sensor type	Dual 1/2.6” 2.3 MP RGB
Array size	1928 x 1208 pixels per sensor
Pixel size	3 µm x 3 µm
Shutter	Electronically synchronized global shutter
Image format	16:10
Output resolution (side by side)	2x(1920x1200) @15/30/60 fps 2x(1920x1080) @15/30/60 fps (cropping mode) 2x(960x600) @15/30/60/120 fps (binning 2x2 mode)
Output format	RAW10 (V4L2) / NV21 (Argus)
Max. S/N ratio	38 dB
Dynamic range	71.4 dB
Sensitivity	22.3 Ke/Lux·s
Camera control	Exposure, analog and digital gain, gamma, white balance, saturation, sharpness, denoising, brightness, contrast
Multi-camera synchronization	Hardware synchronization of multiple connected cameras at frame level within 100 µs

Depth sensing

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

Feature	ZED X - Wide (2.2 mm)	ZED X - Narrow (4.6 mm)	ZED X Mini - Wide (2.2 mm)	ZED X Mini - Narrow (4.6 mm)	ZED X Nano
Baseline	12 cm (4.72”)	12 cm (4.72”)	5 cm (1.97”)	5 cm (1.97”)	18 mm (0.71”)
Depth range	0.3 m to 20 m (0.98 ft to 65.6 ft)	1.0 m to 35 m (3.3 ft to 114.8 ft)	0.1 m to 8 m (0.3 ft to 26.2 ft)	0.15 m to 12 m (0.5 ft to 39.4 ft)	0.03 m to 2.0 m (0.1 ft to 6.56 ft)
Ideal range	0.3 m to 12 m (0.98 ft to 39.4 ft)	1.0 m to 20 m (3.3 ft to 65.6 ft)	0.1 m to 4 m (0.3 ft to 13.1 ft)	0.15 m to 6 m (0.5 ft to 19.7 ft)	0.05 m to 1.5 m (0.16 ft to 4.92 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) < 7% at 20 m (65.6 ft)	< 1.6% at 2 m (6.6 ft) < 3% at 4 m (13.1 ft)	< 1.0% at 2 m (6.6 ft) < 3% at 6 m (19.7 ft)	< 0.2% at 0.05 m (0.16 ft) < 1.2% at 1.5 m (4.92 ft)
Depth resolution	Native video resolution (in Ultra mode)	Native video resolution (in Ultra mode)	Native video resolution (in Ultra mode)	Native video resolution (in Ultra mode)	Native video resolution (in Ultra mode)
Depth frame rate	Up to 120 Hz	Up to 120 Hz	Up to 120 Hz	Up to 120 Hz	Up to 120 Hz
Object detection	Up to max. depth (3D)	Up to max. depth (3D)	Up to max. depth (3D)	Up to max. depth (3D)	Up to max. depth (3D)
Body tracking	Up to 8 m	Up to 15 m	Up to 6 m	Up to 12 m	Not supported

Optics

ZED X and ZED X Mini lens options

The ZED X and ZED X Mini use a wide-angle 9-element all-glass dual lens with optically corrected distortion. Both lens options are also available with a built-in polarizing filter, which reduces glare and reflections outdoors.

Feature	Wide lens	Narrow lens
Focal length	2.2 mm (0.087”)	4.6 mm (0.18”)
Field of view	110° (H) x 80° (V) x 120° (D)	73° (H) x 45° (V) x 87° (D)
Aperture	f/2.2	f/2.0
Distortion	< 5.7% (TV distortion)	-6.7% (TV distortion)

ZED X Nano optics

The ZED X Nano uses a fixed 6-element hybrid dual lens.

Feature	Value
Focal length	2.8 mm (0.11”)
Field of view	92° (H) x 65° (V) x 102° (D)
Aperture	f/2.5
Distortion	< -1.10% (TV distortion)

Motion sensor

All three cameras integrate a high-performance 6-axis inertial sensor with a 16-bit triaxial accelerometer and gyroscope, providing orientation and motion detection of the camera. Its high vibration robustness and temperature stability make it suitable for harsh industrial robotics environments.

Feature	Value
Accelerometer range	± 12 G
Accelerometer resolution	0.36 mg
Accelerometer noise density	2.3 mg
Gyroscope range	± 1000 dps
Gyroscope resolution	0.03 dps
Gyroscope noise density	0.20 dps
Sensitivity error	± 0.5%
Output data rate	200 Hz

You can access the sensor data through the Sensors API of the ZED SDK.

The ZED X and ZED X Mini also embed a TMP102 temperature sensor on the internal I2C bus.

Positional tracking

Feature	Value
Technology	Visual-inertial stereo SLAM with advanced sensor fusion and thermal compensation
Pose update rate	Up to 120 Hz
Pose drift	Translation: 0.3% Rotation: 0.003°/m (without loop correction)

Physical specifications

Feature	ZED X	ZED X Mini	ZED X Nano
Dimensions	163.4 x 31.8 x 36.7 mm (6.44 x 1.26 x 1.45”)	93.6 x 31.8 x 36.7 mm (3.69 x 1.26 x 1.45”)	42.0 x 30.5 x 33.8 mm (1.65 x 1.20 x 1.33”)
Weight	239 g (0.53 lb.)	151 g (0.34 lb.)	75 g (0.17 lb.)
Mounting	1x 1/4”-20 UNC thread (bottom) 2x M3x0.5 threads (bottom) 4x M4x0.7 threads (back)	1x 1/4”-20 UNC thread (bottom) 2x M3x0.5 threads (bottom) 4x M4x0.7 threads (back)	1x 1/4”-20 UNC thread (bottom) 2x M3x0.5 threads (bottom)
Interface	GMSL2, serial coax FAKRA Z type connector	GMSL2, serial coax FAKRA Z type connector	GMSL2, serial coax FAKRA Z type connector
IP rating	IP67	IP67	None (indoor use)
Operating temperature	-20°C to +60°C (-4°F to 140°F)	-20°C to +60°C (-4°F to 140°F)	-20°C to +60°C (-4°F to 140°F)
Relative humidity	90% at 40°C	90% at 40°C	90% at 40°C
Vibrations	2 g RMS @ 3-500 Hz, 1 h/axis	2 g RMS @ 3-500 Hz, 1 h/axis	2 g RMS @ 3-500 Hz, 1 h/axis
Power	Power via GMSL2 (PoC) Typical consumption: 1.46 W (0.122 A @ 12 VDC)	Power via GMSL2 (PoC) Typical consumption: 1.46 W (0.122 A @ 12 VDC)	Power via GMSL2 (PoC) 1.46 W (0.122 A @ 12 VDC)
Power supply ratings	5 V to 20 V	5 V to 20 V	Not published
Warranty	2-year hardware warranty	2-year hardware warranty	2-year hardware warranty

Only the ZED X and ZED X Mini are IP67 rated. The ZED X Nano has no IP rating and is designed for indoor use.

Technical drawings

ZED X - Wide lens

ZED X - Narrow lens

ZED X Mini - Wide lens

ZED X Mini - Narrow lens

ZED X Nano

ZED X wide lens technical drawings

System requirements

The ZED X, ZED X Mini and ZED X Nano require an NVIDIA® Jetson™ host equipped with a ZED Link Mono, Duo or Quad capture card for their GMSL2 connection. See the Recommended Specifications for ZED SDK page for the up-to-date host requirements.

Minimum ZED SDK version

Camera model	Minimum ZED SDK version
ZED X	v4.0
ZED X Mini	v4.0
ZED X Nano	v5.3

Part numbers

Model	No polarizer	With polarizer
ZED X - Wide lens (2.2 mm)	ZED-311110	ZED-311120
ZED X - Narrow lens (4.6 mm)	ZED-312110	ZED-312120
ZED X Mini - Wide lens (2.2 mm)	ZED-311210	ZED-311220
ZED X Mini - Narrow lens (4.6 mm)	ZED-312210	ZED-312220

Model	SKU
ZED X Nano	ZED-314310

Standards and compliance

Certificate	Region	ZED X	ZED X Mini
CE Declaration of Conformity	European Union	Yes	Yes
REACH	European Union	Yes	Yes
RoHS 3	European Union	Yes	Yes
TSCA	United States	Yes	Yes
EMC	European Union	Yes	Yes
FCC	United States	Yes	Yes
ICES-0003	Canada	Yes	Yes
IP67	Global	Yes	Yes
Certificate of Origin	Global	Yes	Yes

The compliance list of the ZED X Nano is not published in its datasheet yet. Refer to the StereoLabs certificates page for its up-to-date status.

Feature	Value
Country of origin	France
HS code	85258940
ECCN	EAR99

The compliance certificates are available on the StereoLabs certificates page.