ZED X One Specifications

This page gathers the hardware specifications of the ZED X One GS, ZED X One 4K and ZED X One S monocular cameras. The reference documents are the official ZED X One datasheets.

For the barebone MIPI version of the camera, see the ZED X One Core specifications.

Image sensor

The ZED X One GS and ZED X One S are built around an AR0234 1/2.6” 2.3 MP RGB global shutter sensor, which provides good low-light capabilities and distortion-free images of fast-moving objects. The ZED X One 4K uses a 1/1.8” 8.4 MP rolling shutter sensor with HDR technology, for applications that require maximum visual detail.

Feature	ZED X One GS	ZED X One 4K	ZED X One S
Sensor type	1/2.6” 2.3 MP RGB	1/1.8” 8.4 MP CMOS	1/2.6” 2.3 MP RGB
Array size	1928 x 1208 pixels	3856 x 2180 pixels	1928 x 1208 pixels
Pixel size	3 µm x 3 µm	2 µm x 2 µm	3 µm x 3 µm
Chief Ray Angle (CRA)	0°	0°	0°
Recommended lens CRA	0° ± 3°	0° ± 10°	0° ± 3°
Shutter	Electronically synchronized global shutter	Rolling shutter	Electronically synchronized global shutter
Image format	16:10	16:9	16:10
Output resolution	1920x1200 @15/30/60 fps 1920x1080 @15/30/60 fps (cropping mode) 960x600 @15/30/60/120 fps (binning mode)	3840x2160 @15 fps 3200x1800 @15 fps 1920x1200 @15/30/60 fps 1920x1080 @15/30/60 fps	1920x1200 @15/30/60 fps 1920x1080 @15/30/60 fps (cropping mode) 960x600 @15/30/60/120 fps (binning mode)
Output format	RAW10 (V4L2) / NV21 (Argus)	RAW12 (V4L2) / YUV 4:2:2 (Argus)	RAW10 (V4L2) / NV21 (Argus)
Max. S/N ratio	38 dB	≥ 41 dB	38 dB
Dynamic range	71.4 dB	85 dB	71.4 dB
Sensitivity	22.3 Ke/Lux·s	15886 Digit/Lux·s	22.3 Ke/Lux·s
Camera control	Exposure, analog and digital gain, gamma, white balance, saturation, sharpness, denoising, brightness, contrast	Exposure, analog and digital gain, gamma, white balance, saturation, sharpness, denoising, brightness, contrast	Exposure, analog and digital gain, gamma, white balance, saturation, sharpness, denoising, brightness, contrast

All three models support hardware synchronization of multiple cameras (see Multi-camera synchronization).

Optics

ZED X One GS and ZED X One S lens options

Feature	Fisheye lens	Wide lens	Narrow lens
Focal length	1.38 mm (0.054”)	2.2 mm (0.086”)	4.6 mm (0.18”)
Field of view	204° (H) x 137° (V) x 218° (D)	110° (H) x 80° (V) x 120° (D)	73° (H) x 45° (V) x 87° (D)
Aperture	f/2.0	f/2.2	f/2.0
Distortion	+18.8% (F-θ)	< 4.39%	-6.7%
Availability	ZED X One S only	ZED X One GS and ZED X One S	ZED X One GS and ZED X One S

The IP69K rating of the ZED X One S applies to the Wide lens model only.

ZED X One 4K optics

Feature	Wide lens
Focal length	3.1 mm (0.122”)
Field of view	110° (H) x 72° (V) x 119° (D)
Aperture	f/2.0
Distortion	< 5.85% (TV distortion)

Infrared cut filter

Every ZED X One lens includes an infrared (IR) cut filter: 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 part of the lens assembly and cannot be removed.

Why the filter is needed

The silicon image sensors of ZED X One 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.

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	Fisheye lens (ZED X One S)	Wide lens (ZED X One GS and ZED X One S)	Narrow lens (ZED X One GS and ZED X One S)	ZED X One 4K - Wide lens
Cut-on (T = 50%)	400 ± 10 nm	386 nm	400 ± 10 nm	386 nm
Visible passband	Tavg ≥ 95% from 425 nm to 630 nm	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%)	650 ± 10 nm	646 nm	650 ± 10 nm	646 nm
NIR blocking	Tavg < 1% from 680 nm to 1100 nm	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	Tavg < 2% (Tmax ≤ 5%) from 380 nm to 10 nm below the cut-on	Not specified	Tavg < 2% (Tmax ≤ 5%) from 380 nm to 10 nm below the cut-on	Not specified

The values of the ZED X One GS and ZED X One S Wide lens and of the ZED X One 4K are measured on a sample of their 650 nm IR cut filter, for which the supplier does not specify tolerances.

Motion sensor

All three models integrate a BOSCH BMI088 IMU, 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
Motion sensor	BOSCH BMI088 IMU
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.

Sensor positions

The offset values specify the location of the IMU origin with respect to the center of the image plane.

Model	X offset	Y offset	Z offset
ZED X One GS	0 mm	0 mm	-5.92 mm
ZED X One 4K	0 mm	0 mm	-6.57 mm
ZED X One S	-7.07 mm	1.96 mm	-5.92 mm

ZED X One GS

ZED X One 4K

ZED X One S

For the ZED X One 4K, the image plane to glass cover distance is 1.03 mm and the sensor thickness is 1.95 mm.

Multi-camera synchronization

All cameras connected to the same GMSL2 deserializer 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:

For hardware recommendations, synchronization methods, and local network streaming with multiple cameras, see the Multi-Camera page.

Physical specifications

Feature	ZED X One GS	ZED X One 4K	ZED X One S
Dimensions	Narrow lens: 31 x 31 x 49.3 mm (1.22 x 1.22 x 1.94”) Wide lens: 31 x 31 x 52.5 mm (1.22 x 1.22 x 2.07”)	31 x 31 x 58.2 mm (1.22 x 1.22 x 2.29”)	Narrow lens: 25 x 25 x 35.7 mm (0.98 x 0.98 x 1.41”) Wide lens: 25 x 25 x 39.0 mm (0.98 x 0.98 x 1.54”) Fisheye lens: 25 x 25 x 34.2 mm (0.98 x 0.98 x 1.34”)
Weight	Narrow lens: 50 g (0.11 lb.) Wide lens: 55 g (0.12 lb.)	59 g (0.13 lb.)	Narrow lens: 33 g (0.07 lb.) Wide lens: 37 g (0.08 lb.) Fisheye lens: 36 g (0.08 lb.)
Mounting	4x M4x0.7 threads (bottom) + 1/4”-20 UNC adapter plate	4x M4 threads (bottom) + 1/4”-20 UNC adapter plate	Bottom: 2x M2x0.4x4 mm and 2x M2x0.4x1.2 mm Front: 4x M2x0.4x6 mm
Interface	GMSL2, serial coax FAKRA Z type connector	GMSL2, serial coax FAKRA Z type connector	GMSL2, serial coax FAKRA Z type connector
IP rating	None	None	IP69K (Wide lens only)
Operating temperature	-20°C to +55°C (-4°F to 131°F)	Not published	-20°C to +60°C (-4°F to 140°F)
Relative humidity	90% at 40°C	Not published	90% at 40°C
Vibrations	Not published	Not published	2 g RMS @ 3-500 Hz, 1 h/axis
Power	Power via GMSL2 (PoC), 0.89 W (12 VDC)	Power via GMSL2 (PoC), 0.92 W (12 VDC)	Power via GMSL2 (PoC) Typical consumption: 0.89 W (0.074 A @ 12 VDC)
Power supply ratings	Not published	Not published	5 V to 20 V
Warranty	2-year hardware warranty	2-year hardware warranty	2-year hardware warranty

Technical drawings

ZED X One GS - Narrow lens

ZED X One GS - Wide lens

ZED X One 4K - Wide lens

ZED X One S - Narrow lens

ZED X One S - Wide lens

ZED X One S - Fisheye lens

ZED X One GS narrow lens technical drawings

System requirements

The ZED X One cameras 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.

On a ZED Link Quad capture card, up to 8 ZED X One GS or ZED X One S cameras can be captured at 1920x1200 @30 fps, or up to 4 ZED X One 4K cameras at 3840x2160 @15 fps.

Minimum ZED SDK version

Camera model	Minimum ZED SDK version
ZED X One GS	v4.2
ZED X One 4K	v4.2
ZED X One S	v4.2

Part numbers

Model	SKU
ZED X One GS - No lens	ZED-411010
ZED X One GS - Wide lens (2.2 mm)	ZED-412010
ZED X One GS - Narrow lens (4.6 mm)	ZED-413010
ZED X One 4K - No lens	ZED-421010
ZED X One 4K - Wide lens (3.1 mm)	ZED-422010
ZED X One S - No lens	ZED-411012
ZED X One S - Wide lens IP69K (2.2 mm)	ZED-412012
ZED X One S - Narrow lens (4.6 mm)	ZED-413012
ZED X One S - Fisheye lens (1.38 mm)	ZED-414012

Standards and compliance

Certificate	Region	ZED X One GS	ZED X One 4K	ZED X One S
CE Declaration of Conformity	European Union	Yes	Yes	Yes
REACH	European Union	Yes	Yes	Yes
RoHS 3	European Union	Yes	Yes	Yes
TSCA	United States	Yes	Yes	Yes
EMC	European Union	Yes	No	Yes
FCC	United States	No	No	Yes
Certificate of Origin	Global	Yes	Yes	Yes

Feature	Value
Country of origin	France
HS code	85258940
ECCN	EAR99

The compliance certificates are available on the StereoLabs certificates page.