> For clean Markdown of any page, append .md to the page URL. > For a complete documentation index, see https://docs.stereolabs.com/llms.txt. > For AI client integration (Claude Code, Cursor, etc.), connect to the MCP server at https://docs.stereolabs.com/_mcp/server. # 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](https://www.stereolabs.com/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 (see [Multi-camera synchronization](#multi-camera-synchronization)) | ## Depth sensing Depth is computed by the ZED SDK [Depth Sensing module](/docs/development/zed-sdk/modules/depth-sensing/) 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 | Native video resolution | Native video resolution | Native video resolution | Native video resolution | | 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](#polarizing-filter-option). | 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) | ### Polarizing filter option Both [ZED X and ZED X Mini lens options](#zed-x-and-zed-x-mini-lens-options) can be ordered with a built-in polarizing filter in front of the lenses. The filter cannot be added or removed later: it is part of the camera configuration and has its own [part number](#part-numbers). The ZED X Nano is not available with a polarizer. This section explains what the filter does and helps you decide whether your application needs it. *The same outdoor scene with and without a polarizing filter. The polarized side of the sliding split shows a deeper blue sky, less glare on the asphalt and more saturated colors.* #### How it works When sunlight reflects off non-metallic surfaces such as water, glass, wet asphalt, painted car bodies, plastic or glossy leaves, the reflected light becomes partially polarized. The polarizing filter blocks a large part of this polarized light while letting through the light that carries the actual texture of the scene. Light scattered by the blue sky is also partially polarized, so the filter darkens the sky and reduces atmospheric haze. This matters for stereo vision because specular reflections and glare depend on the point of view: the same highlight appears at a different position in the left and right images, or in only one of them. Stereo matching then struggles to find consistent correspondences, resulting in holes, noise or wrong depth values on reflective surfaces. By removing most of these reflections, the filter makes the left and right images more consistent and the depth more reliable. #### Advantages outdoors in sunlight * **Fewer reflections and less glare** on water, windows, glass facades, wet roads, vehicles and other glossy surfaces, and therefore fewer depth artifacts and false detections in these areas. * **Better contrast and color saturation**, with a less washed-out sky and less haze. The auto exposure can more easily preserve detail in both the sky and the ground. * **No practical cost from the light loss**: in direct sunlight, the scene is bright enough for the camera to keep short exposure times and low gain even with the filter. #### Disadvantages indoors and in low light A polarizing filter also absorbs unpolarized light: it typically blocks half to two thirds of the incoming light, which corresponds to 1 to 1.5 stops. Indoors, where light levels are often hundreds of times lower than in daylight, this loss has visible consequences: * **Longer exposure times** are needed to reach the same image brightness, which increases motion blur when the camera or objects move. The exposure time is also capped by the frame rate (about 33 ms at 30 FPS, 17 ms at 60 FPS and 8 ms at 120 FPS), so in dim scenes the camera quickly reaches this cap. * **Higher gain and more image noise**: once the exposure time is at its maximum, the auto exposure compensates by raising the gain. Noise and blur degrade the depth (more noise, lower confidence, fewer valid pixels) and reduce the number of reliable visual features available to positional tracking, object detection and body tracking. * **Little benefit in return**: artificial light is mostly unpolarized and indoor reflections are much weaker than sunlight glare, so the filter has little to remove. * **Screens can appear dark**: most LCD and OLED displays emit polarized light. Depending on how the screen is oriented relative to the camera, monitors, phones or control panels can look dim or completely black through the filter. #### Other points to consider * **The filter orientation is fixed.** Unlike a photographic polarizer, it cannot be rotated to tune the effect, so its efficiency depends on the scene geometry. The effect is strongest on reflections seen at a grazing angle (around 30° to 40° above the reflecting surface) and on the part of the sky at about 90° from the sun. If you mount the camera rolled (for example vertically), the filter rotates with it and reduces reflections differently. * **Reflections from bare metal are not removed**, because they are not polarized. * **Uneven sky with wide lenses**: sky polarization varies with the direction relative to the sun, so with a wide field of view the sky can look unevenly darkened across the image. This effect is cosmetic and does not affect depth. * **Stress patterns**: when the camera looks through tempered glass, a windshield or transparent plastic (for example a protective window in front of the camera), the filter can reveal rainbow or mottled patterns caused by internal stress in the material. #### Should you choose the polarizer? | Use case | Recommendation | | :---------------------------------------------------------------------------------------------------------------------- | :-------------------------------------------------------------------------------------------- | | Outdoor use in daylight (agriculture, construction, mining, outdoor mobile robots, drones) | With polarizer | | Scenes with water, glass, wet roads, vehicles or other reflective surfaces under sunlight (marine, ports, road traffic) | With polarizer | | Indoor use (warehouses, factories, offices, retail, homes) | No polarizer | | Low light, dusk, night, or artificial light only | No polarizer | | Fast motion or high frame rates in moderate light | No polarizer | | Scenes with screens or displays that must stay readable | No polarizer | | Mixed indoor and outdoor operation | Depends on where the critical tasks happen: prefer no polarizer if indoor performance matters | As a rule of thumb, choose the polarizer when the camera works mainly outdoors in daylight and reflections are a concern. For indoor, low-light or mixed setups, collecting as much light as possible usually matters more, so choose the version without a polarizer. > **Tip** > > If you are unsure, record [SVO files](/docs/development/zed-sdk/modules/camera/recording/) of your real scenes. Check the depth map on reflective surfaces, then check the exposure and gain values reported by the [camera controls](/docs/development/zed-sdk/modules/camera/camera-controls/) in your darkest conditions. A high gain, or an exposure time close to the frame period, means the scene is too dark for a polarizer. ### Infrared cut filter Every ZED camera includes an **infrared (IR) cut filter** in its optics: a thin glass plate with an optical coating that transmits visible light and blocks the near-infrared (NIR) and ultraviolet (UV) light that the human eye cannot see. The filter is built into the camera and cannot be removed. #### Why the filter is needed The silicon image sensors of ZED cameras are sensitive to light from about 350 nm to 1100 nm, well beyond the visible range of about 400 nm to 700 nm. The red, green and blue color filters on the sensor pixels become almost transparent in the near infrared, so without an IR cut filter, NIR light would add unwanted signal to all three color channels: * **Washed-out and wrong colors**: vegetation, dark fabrics and some plastics strongly reflect NIR and would look reddish or pink, and the whole image would lose saturation. * **Unstable white balance**: the amount of NIR varies a lot between sunlight, incandescent lamps and LED lighting, so the same scene would look different under each light source. * **Softer images**: lenses do not focus NIR light at the same distance as visible light, which blurs fine details. By keeping only the visible band, the filter provides natural colors that are consistent from one camera to another, which also benefits computer vision and AI models. #### Consequences for your application * **The cameras do not see near-infrared light.** IR illuminators (typically 850 nm or 940 nm), the IR LEDs of surveillance cameras and the patterns projected by active depth cameras are almost invisible to them. Operation in the dark requires visible lighting. * **No interference from active IR sensors.** For the same reason, LiDARs, time-of-flight cameras and structured light projectors operating nearby in the near infrared do not disturb the images or the passive stereo depth. #### Specifications The table shows the filter's transmission as a function of wavelength across the visible, UV and infrared ranges. *T* is the transmission at a given wavelength and *Tavg* the average transmission over a band. | Feature | ZED X and ZED X Mini - Wide lens | ZED X and ZED X Mini - Narrow lens | ZED X Nano | | :---------------- | :---------------------------------- | :----------------------------------------------------------- | :---------------------------------- | | Cut-on (T = 50%) | 386 nm | 400 ± 10 nm | 386 nm | | Visible passband | Tavg = 94% from 425 nm to 630 nm | Tavg ≥ 95% from 425 nm to 630 nm | Tavg = 94% from 425 nm to 630 nm | | Cut-off (T = 50%) | 646 nm | 650 ± 10 nm | 646 nm | | NIR blocking | Tavg \< 0.5% from 680 nm to 1100 nm | Tavg \< 1% from 680 nm to 1100 nm | Tavg \< 0.5% from 680 nm to 1100 nm | | UV blocking | Not specified | Tavg \< 2% (Tmax ≤ 5%) from 380 nm to 10 nm below the cut-on | Not specified | The values of the Wide lens and of the ZED X Nano are measured on a sample of their 650 nm IR cut filter, for which the supplier does not specify tolerances. On cameras ordered with the [polarizing filter](#polarizing-filter-option), the IR cut filter is laminated to the polarizer to form a single element, which replaces the IR cut filter of the lens. The polarizer lowers the transmission of the visible band: | Feature | IR cut filter + polarizer (Wide and Narrow lenses) | | :---------------- | :-------------------------------------------------------------- | | Cut-on (T = 20%) | 395 nm to 415 nm | | Visible passband | Tavg > 40% from 430 nm to 610 nm | | Cut-off (T = 20%) | 640 nm to 660 nm | | NIR blocking | Tavg \< 2% from 695 nm to 800 nm T \< 3% from 800 nm to 1000 nm | | UV blocking | Not specified | ## 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](/docs/development/zed-sdk/modules/sensors/) 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) | ## Multi-camera synchronization All cameras connected to the same [GMSL2 deserializer](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) are automatically **hardware-synchronized** at frame level, within **15 µs**. No wiring or configuration is required. To synchronize cameras connected to different capture cards or devices, or to synchronize them with external sensors, use the **hardware triggering** options of your GMSL2 host: * [ZED Link Mono GPIO triggering](/docs/products/embedded/zed-link-capture-card/gmsl2/zed-link-mono/zed-link-mono-gpio-triggering) * [ZED Link Duo GPIO triggering](/docs/products/embedded/zed-link-capture-card/gmsl2/zed-link-duo/zed-link-duo-gpio-triggering) * [ZED Link Quad GPIO triggering](/docs/products/embedded/zed-link-capture-card/gmsl2/zed-link-quad/zed-link-quad-gpio-triggering) * [ZED Box Mini multi-device synchronization](/docs/products/embedded/zed-box-mini/connectivity#multi-device-synchronization) > **Note** > > For hardware recommendations, synchronization methods, and local network streaming with multiple cameras, see the [Multi-Camera](/docs/development/zed-sdk/modules/camera/multi-camera) page. ## 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 | > **Note** > > 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 wide lens technical drawings](/_fern-img/9729e67c64d1a647a1178e0d6164aca2aed35c5dc2fdbef54e2ac35596083010.webp) #### ZED X - Narrow lens ![ZED X narrow lens technical drawings](/_fern-img/0b8497cf546cad34f1724c339a7de54da19a76ebed9db4470c140d1fc2ae36cb.webp) #### ZED X Mini - Wide lens ![ZED X Mini wide lens technical drawings](/_fern-img/04fd7ef79bcc2ad67038321071f12e9fd311bc90228f628bcaf4bd1d4ed180bd.webp) #### ZED X Mini - Narrow lens ![ZED X Mini narrow lens technical drawings](/_fern-img/2e68165ac67ca2708dbd72bfb86b9eeb1fc00183031ce41d867a0e09ef087c1a.webp) #### ZED X Nano ![ZED X Nano technical drawings](/_fern-img/8e0cc5ac6c9b11aee925e63e56b38a1522d78409a340df29c0a558360502095d.webp) ## 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](/docs/products/embedded/zed-link-capture-card/gmsl2/) for their [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) connection. See the [Recommended Specifications for ZED SDK](/docs/development/zed-sdk/specifications/) 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 | > **Note** > > The compliance list of the **ZED X Nano** is not published in its datasheet yet. Refer to the [StereoLabs certificates](https://www.stereolabs.com/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](https://www.stereolabs.com/certificates) page.