OAK Series 3

Series 3 (S3) of OAK devices will have onboard the new Robotic Vision Core 3 (RVC3). Compared to the previous series of OAK cameras that were using RVC2, these are the main differences with the Series 3:

  • Integrated quad-core ARM A53 running YOCTO Linux (details)

  • Enhanced stereo depth perception (details)

  • NN INT8 quantization support (details)

We also plan to keep backward compatibility - so pipelines written for Robotics Vision Core 2 will still work on the Series 3 devices.

Series 3 roadmap

  • 2022 Q1: Hardware bring-up and testing.

  • 2022 Q2: Porting of DepthAI stack to Robotics Vision Core 3.

  • 2022 Q3: Hardware bring-up and testing of OAK-SoM MAX. Evaluation testing.

  • 2022 Q4: Beta release of initial OAK devices with integrated Robotics Vision Core 3. Software/firmware is getting more feature-complete and more stable.

  • 2023 Q2: Official release of OAK S3 device(s).

This might be a bit of an optimistic roadmap due to supply chain issues, but we will do everything possible to meet it.

2022/2023 Updates

  • February: We manufactured the initial batch of SoM with Robotics Vision Core 3 on board. We also started porting the DepthAI library to the new ecosystem.

  • March: We designed OAK-SoM MAX and started porting DepthAI stack.

  • May: We received initial OAK-SoM MAX boards and designed OAK-FFC-6P which will use OAK-SoM-Max.

  • June: HW bringup of OAK-FFC-6P. New batch of OAK-SoM-Pro-S3.

  • July: New OS for Robotics Vision Core 3 - LuxonisOS. Camera driver support for IMX378, IMX477, IMX577, OV7251

  • August: DepthAI initial release for RVC3 (stereo support, NN support, logging support), initial support for IMX582, PCIe WiFi card support, OTA updates

  • September: HDR support, support for IMX214, full support for IMX582, LuxOS restructure and initial release

  • October: LuxonisOS flashing/updating and signing, EdgeDetector, Warp and Spatial nodes, dot projector & LED support (I2C)

  • November: on rvc3_support branch majority of the DepthAI nodes are already supported, except FeatureTracker, ObjectTracker, Script node and some features (eg. RGB-depth alignment).

  • January 2023: Further improvements to LuxonisOS, DepthAI improvements, new sensors supported (AR0234), camera control improvements

  • February: Working on TOF support (OAK-FFC-ToF-VGA), zero-copy for some functions, working on FeatureTracker support (for on-device VIO)

For updates on the progress of OAK Series 3, sign-up to our newsletter here.

Quad-core ARM

Having a Quad-core ARM A53 1.5GHz with Neon technology and floating point extensions (running Yocto 2.71, Linux Kernel 5.3) integrated into the VPU is similar to having Robotics Vision Core 2 + Raspberry Pi 3B+ (quad-core A53 1.4GHz), which can make final projects and products more compact.

Custom applications

Users will be able to execute custom containerized apps on the ARM processor on the S3 devices via Robothub. These containerized apps will also be able to interface with GPIOs and communication interfaces (I2C, UART…), so customers will be able to eg. read from custom sensor, or communicate with a microprocessor directly from the S3 SoM.

It will also be possible to use the S3 OAK cameras as the previous version (eg. OAK-D, OAK-D-Lite); to connect it via the USB to your computer, and just start an application. With on-board computing capability, programs/apps will be able to do full model decoding on the device itself, which would allow DepthAI apps to be more flexible and have lower latency.


Since Series 3 OAK cameras will have on-board quad-core ARM, it will be possible to run VIO or SLAM software stacks on the OAK camera itself. Sparse SLAM will be supported on-device, for dense SLAM additional host computing might be required (TBD).

Enhanced Stereo Depth on RVC3

Series 3 OAK devices feature CNN-based calculation of pixel descriptors, compared to census transform that’s being used in previous OAK series.

NN quantization

RVC3 supports FP16 and INT8 datatype. OpenVINO provides tools for quantization of models as well, so converting the model won’t be any different from converting the model for Robotics Vision Core 2 (which supports only FP16).

INT8 quantization improves inference performance of some neural model layers.

RVC3 has 20 DPU (Data Processing Units) integrated which are capable of delivering 5.12 TOPS (INT8) or 1.28 TFLOPS (FP16).

RVC3 Specifications

Hardware specifications

nominal VPU clock

500 MHz

ResNet-50 performance

240 inferences per second


3.0 TOPS

SHAVE processors


Computer Vision

CV/Warp acceleration at 1.0 GB/s. 6DOF motion mask support

Stereo depth

720P resolution at 180 FPS

Video encoding

Max 4K 75FPS. H.264, H.265 and JPEG codecs

Video decoding

Max 4K 60FPS, max 10 channels of 1080P/30FPS. H.264, H.265 and JPEG codecs


ISP, Max 6 cameras, 500 MP/s HDR, TNF, 3A, ULL. 4K/60FPS support


Multiple I2C, Quad-SPI, I2S, UART, PCIe Gen4 interfaces, USB 3.1/2, 1GB ethernet, many GPIOs

Operating temperature

-40°C to 105°C (same as Robotics Vision Core 2)

RAM support

2x 32-bit DRAM at 1600-2133 MHz

ResNet-50 performance was measured with INT8 quantization with (max) native optimizations and with weight sparsity at 50%.

Native media support

  • GStreamer framework

  • OpenCV (or G-API) for computer vision

  • Video Acceleration API / Intel Media SDK for encoding and decoding

Users will be able to also use libraries/frameworks above in their Custom applications.

Got questions?

Head over to Discussion Forum for technical support or any other questions you might have.