Based on the Raspberry PI CMIO board, the OAK-D-CM3 (BW1097) combines a host and the OAK-SoM to allow for fully integrated solution for real-time spatial AI.

Board layout


Dimensions and Weight

  • Width: 110 mm

  • Height: 60 mm

  • Length: 27 mm

  • Weight: 101g


Key features

  • Support for on-board stereo and RGB camera modules

  • Interface for OAK-SoM

  • SODIMM for Raspberry PI CM3/CM3+

  • USB2 interface between CM3+ and DepthAI SoM

  • 2x USB2

  • 1x Aux USB2

  • 10/100 Ethernet

  • Raspberry PI CSI/DSI support

  • Raspberry PI USB boot option

  • CM3+ JTAG header

  • Standard 40-pin header for CMIO/CM3+

  • HDMI output

  • 5V barrel jack input

  • Support for 5V fan

  • TRS Audio output

  • microSD card support

  • Design files produced with Altium Designer 20


Minimal and maximal perceiving distances of the camera

Minimal depth perceiving distance of the camera depends on mono camera FOV, resolution, baseline and stereo depth mode, more info is available on the Stereo Depth documentation.

OAK-D-CM3 has a baseline of 9cm and by varying the resolution and stereo depth mode, we get the following minimal depth perceiving distances:

  • Min distance (800P): ~ 80cm

  • Min distance (400P): ~ 40cm

  • Min distance with extended disparity (800P): ~ 40cm

  • Min distance with extended disparity (400P): ~ 20.9cm

Maximal perceiving distance for OAK-D-CM3: 45.9 meters

For more information about the maximum distance see the Stereo Depth documentation.

Getting started

The OAK-D-CM3 accepts 5V (+/-10%) from a 5.5m x 2.5mm barrel jack. Raspberry PI USB boot can be accessed by setting a header jumper, which allows initial flash of eMMC on CM3/CM3+. Alternatively the microSD slot can be used with a bootable system image. The Raspberry PI JTAG header is not populated by default, but can be added, allowing JTAG access.

The reset button resets the OAK-SoM only. To reset the CM3/CM3+, ground the RUN header via to the GND header via.

The PWR LED indicates “power good” for the BW1097 on-board PMIC. The ACT LED indicates activity on the CM3/CM3+ device. Other indicator LEDs exist for the two USB2.0 Type A ports and for the 10/100 Ethernet port.

Altium Design Files

See files here

3D Models

  • Board STEP files here


Got questions?

We’re always happy to help with code or other questions you might have.