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We recommend using the OAK-D-CM4, the latest model, unless you are sure you need this one.

Based on the Raspberry PI CM3, the OAK-D-CM3 (BW1097) combines a host and the OAK-SoM to allow for fully integrated solution for real-time Spatial AI. OAK-SoM is connected to the RPi CM3 via USB2 lines (on PCB).

Hardware specifications

Sensor specifications

Camera Specs

Color camera

Stereo pair





81° / 69° / 55°

82° / 72° / 50°


12MP (4032x3040)

1MP (1280x800)


Auto-Focus: 8cm - ∞

Fixed-Focus: 19.6cm - ∞

Max Framerate

60 FPS

120 FPS




Lens size

1/2.3 inch

1/4 inch

Pixel size

1.55µm x 1.55µm

3µm x 3µm

RVC2 inside

This OAK device is built on top of the RVC2. Main features:

Depth perception

This OAK camera has a baseline of 9.0cm - the distance between left and right stereo camera. Minimal and maximal depth perception depends on camera FOV, resolution, and baseline - more information here.

  • MinZ: ~20cm (400P, extended), ~40cm (400P OR 800P, extended), ~80cm (800P)

  • Theoretical MaxZ, docs): ~35 meters

  • Practical MaxZ (real world): ~17 meters with a variance of 10% (depth accuracy evaluation)

Extended means that StereoDepth node has Extended disparity mode enabled.

Dimensions and Weight

  • Width: 110 mm

  • Height: 60 mm

  • Length: 27 mm

  • Weight: 101g


Board layout

../_images/BW1097_diag.jpg ../_images/BW1097.jpg

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.


3D Models

  • Board STEP files here