• RVC
  • Features
  • Depth
  • Deployment
  • Camera Sensors
  • Calibration
  • Environmental Testing
  • Comparisons
Based on

USB 2/3 (up to 10 Gbps)

Ethernet 1Gbps

Dot projector
Sensor 1, 2, 3 - AR0234
100° / 82° / 56°

Looking for more details? Visit specific features at Platform -> Features

RVC2 inside

This OAK device is built on top of the RVC2 architecture, with main features being:

Stereo depth perception

Theoretical depth accuracy

As M12 lenses are swappable, user can easily change lenses to achieve wider FOV, or longer depth perception (narrower FOV):
HFOV [°]< 2% depth error< 4% depth error< 8% depth errorMinZ
1054.9 m137.2 m274.3 m1.92 m
2027.2 m68.1 m136.1 m95 cm
3017.9 m44.8 m89.6 m63 cm
4013.2 m33.0 m65.9 m46 cm
5010.3 m25.7 m51.5 m36 cm
608.3 m20.8 m41.6 m29 cm
706.9 m17.1 m34.3 m24 cm
805.7 m14.3 m28.6 m21 cm
825.5 m13.8 m27.6 m20 cm
904.8 m12.0 m24.0 m17 cm
1004.0 m10.1 m20.1 m14 cm
Note: we haven't tested all of these combinations, but calculated theoretical depth error and interpolated those values with our previous real-world tests when enabling subpixel disparity:
  • < 2% error - 20th disparity pixel, which has 5% full-pixel error (~2% with subpixel enabled)
  • < 4% error - 8th disparity pixel, which has 12.5% full-pixel error (~4% with subpixel enabled)
  • < 8% error - 4th disparity pixel, which has 25% full-pixel error (~10% with subpixel enabled)
Maximum depth was calculated by using the large (15cm) baseline, while MinZ was calculated by using the small (5cm) baseline of the OAK-D-LR. You can further decrease MinZ by lowering the resolution, or using disparity shift (docs here). MinZ values are already using Extended Disparity Mode.

Power consumption

Most of the power is consumed by the RVC2, so the power consumption mostly depends on the workload of the VPU:
  • Base consumption + camera streaming: 2.5W - 3W
  • AI subsystem consumption: Up to 1W
  • Stereo depth pipeline subsystem: Up to 0.5W
  • Video Encoder subsystem: Up to 0.5W
To reduce the power consumption, you can reduce FPS of the whole pipeline - that way, subsystems won't be utilized at 100% and will consume less power.


This OAK camera has an integrated BMI270, a 6-axis IMU (Inertial Measurement Unit). See IMU node for the API details on how to use it.

Operating temperature

The ambient operating temperature of RVC2-based devices is between -20°C and 50°C when fully utilizing the VPU.Similarly to the Power consumption, the max operating temperature depends on VPU utilization. The higher the VPU utilization, the more heat the VPU will generate. The RVC2 VPU can continuously operate at 105 °C, after which the depthai library will automatically shut down the device (to avoid chip damage).To find out more, see our Operative Temperature documentation.