OAK IoT series is now community supported only, and is provided as-is. This means we most likely won’t update it and we don’t provide support for it (Discord, forums, email…).

Buy it on Luxonis shop



The OAK-D-IoT-40 baseboard has three on-board cameras which implement stereo and RGB vision, piped directly into the OAK-SoM-IoT for depth and AI processing. The data can be then output to a host via USB 3.1 Gen1 (Type-C) or via ESP32 WiFi interface. If you are new to OAK IOT devices, you can check Getting started with OAK IoT devices tutorial.

This design is one of two baseboards for the OAK-SoM-IoT, the other one being OAK-D-IOT-75. The only differnece is the the stereo baseline distance and the shape/size of the OAK camera.

Hardware specifications

This OAK camera uses USB-C cable for communication and power. It supports both USB2 and USB3 (5Gbps / 10Gbps).

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:

Dimensions and Weight

  • Width: 60 mm

  • Height: 45 mm

  • Length: 25 mm (including the SoM)

  • Weight: 45.5g (total), 20g (PCBA), 25.5g (SoM with heatsink)


Depth perception

This OAK camera has a baseline of 4.0cm - 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 OR 800P, extended), ~37cm (800P)

  • Theoretical MaxZ, docs): ~21 meters

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

Extended means that StereoDepth node has Extended disparity mode enabled.

Getting started

The OAK-D-IoT-40 accepts power input from 5V barrel jack and it can also accept power from USB C connector. Booting can be accomplished from either the ESP32 or NOR flash on the BW1099EMB, boot selection is configured on BW1099EMB with BOOT resistors.

  • The reset button resets the OAK-SoM-IoT only.

  • The 5V LED indicates 5V power is present on the DM1092.

  • The PG LED indicates “power good” from the OAK-SoM-IoT.

  • The “RUN” LED indicates that the OAK-SoM-IoT is not reset.


3D Models

  • Board STEP files here