Vision specifications

Head vision module#

Modules#

Our vision module combines several features in a single module in Reachy’s head:

• RGB cameras with fish-eye lenses for a wide field of view and more immersion:
  • Arducam
• Time of Flight (ToF) module between Reachy’s eyes:
  • OAK-FFC ToF 33D
• On-chip video encoding supporting h264/h265:
  • OAK-FFC 4P

Different applications will use different cameras:

• Teleoperation - RGB cameras with fish-eye lenses to stream 3D vision to a VR headset
• AI - Time of Flight (ToF) module for accurate depth measurement and 3D mapping and RGB cameras for capturing the scene.

Localisation#

• Head camera (localisation based on robot’s origin)

  

• Head TOF (localisation based on robot’s origin)

  

Torso vision module#

Module#

Reachy has a RGB-D camera in its torso to improve its manipulation capabilities. This camera, as opposed to the ones in the head, is fixed.

• Depth camera - RGB-D camera fitted into the torso:

  • ORBBEC

  

Localisation#

• Torso camera (localisation based on robot’s origin)