rae¶
Overview¶
rae (short for “Robotics Access for Everyone”) is a small desktop robot developed for evaluation of the DepthAI ecosystem and rapid prototyping of robotics applications. It is designed to be a low-cost, easy-to-use, and extensible platform. It was brought to life by a successful Kickstarter campaign.
It’s built on top of the RVC3, which along with AI, CV, video encoding, and stereo depth features, also supports on-chip VIO and Sparse SLAM. rae is running ROS2 which handles path planning and navigation.
Specification overview¶
Uses RVC3 for the computation with 4GB RAM and 32GB eMMC storage
Back side sensors: 2x OV9782 wide FOV
IMU: BMI270 6-axis IMU
Wheels: 2x GM12F-N20VAV DC motors with Hall sensor wheel encoders
Connectivity: Either USB-C (on the side of the robot) or WiFi (AP)
Battery: 5000mAh Li-Ion, about 1 hour of runtime
Microphone array: 6x I2S MEMS microphones, 60Hz - 20kHz
Speaker: 1W, 100Hz - 20kHz
Display: RGB TFT, diagonal 0.96”, 80X160 pixels
Camera Specs |
Color |
Stereo pair / Color |
|---|---|---|
Sensor |
IMX214 (color, PY138) |
OV9782 (color, PY139) |
DFOV / HFOV / VFOV |
||
Rectified Depth FOV |
N/A |
|
Resolution |
13MP (4208x3120) |
1MP (1280x800) |
Focus |
FF: 60cm - ∞ |
FF: 18cm - ∞ |
Max Framerate |
60 FPS |
120 FPS |
F-number |
2.2 ±5% |
2 ±5% |
Lens size |
1/3 inch |
1/4 inch |
Effective Focal Length |
2.26mm |
1.69mm |
Pixel size |
1.55µm x 1.55µm |
3µm x 3µm |
RVC3 inside¶
This OAK device is built on top of the RVC3. Main features:
3.0 TOPS for AI with INT8 quantization support
Quad-core ARM A53 @ 1.5GHz, running Yocto Linux, acting as a host computer
Imaging: ISP, max 6 cameras, 500 MP/s HDR, 3A
Run any AI model, even custom architectured/built ones - models need to be converted.
Cloud platform - Robothub - connectivity out-of-the-box
On-device SLAM / VIO support
Encoding: H.264, H.265, MJPEG - 4K/75FPS, Decoding: 4K/60FPS
Computer vision: warp/dewarp, resize, crop via ImageManip node, edge detection, feature tracking. You can also run custom CV functions
Stereo depth perception with filtering, post-processing, RGB-depth alignment, and high configurability
Object tracking: 2D and 3D tracking with ObjectTracker node
Hardware specifications¶
Utilizes OAK-SoM MAX (OAK-SoM-Max-1 configuration)
Wireless card: Intel 9260 (via PCIe M.2)
Accessory USB-C (on top) works as USB3.0 host, so you can connect USB devices to it
USB-C charging port (on the side) is USB2, while Accessory USB-C (on top) is USB3
LED ring (around the bottom): 10 LEDs per side, in total 40 LEDs individually addressable via WS2812 protocol
Stereo depth perception¶
This OAK camera has a baseline of 7.5cm - the distance between the left and the right stereo camera. Minimal and maximal depth perception (MinZ and Max) depends on camera FOV, resolution, and baseline- more information here.
Ideal range: 40cm - 6m
MinZ: ~20cm (400P OR 800P, extended), ~37cm (800P)
MaxZ: ~10 meters with a variance of 10%
Extended means that StereoDepth node has Extended disparity mode enabled.
Getting started¶
See the documentation here on how to connect the rae to the RobotHub.
3D Models¶
3D models - STEP/STL of the enclosure and the PCBA - can be found here