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Tag 60A

SKU: tgmt9v022. Category: .

Occam Tag: Turn-key 6-DOF localization and tracking

Occam Tag provides a full turn-key solution to self-localization and tracking. Mount the included stickers to ceilings or walls and the camera will determine its 6-DOF pose relative to them. The camera can also be stationary while the stickers are on a moving object, and the camera will track the object’s pose.

All image processing is done in hardware at 60 FPS with latency less than 10ms. The camera also includes a full IMU (3-axis accelerometer, 3-axis gyro, 3-axis compass) to improve stability and resolve off-plane rotation ambiguities.

Shipping not included.

  • 60 Hz frame rate, < 10 ms latency
  • full IMU for extra accuracy and stability
  • localization distance of up to 10 meters
  • on-camera image processing, suitable for embedded host
  • C, C++, and ROS
  • Windows 7, 8, and Linux 3.x

 

Model
tgmt9v022
ResolutionWVGA (752 x 480)
Max Frame Rate60 FPS
Horizontal FOV72° with included lens
Vertical FOV72° with included lens
InterfaceUSB2
Max Cable Length30 feet
SensorAptina MT9V022
Tracks markers on wallsYes
Tracks markers on ceilingsYes
Tracks markers on objectsYes
Flat and ball markersYes
Marker typespattern sheets or free points
Trigger inputYes
GPIO4x inputs
GPIO DC Range3.3V-24V inputs
Dual Quadrature Encoder Inputs2x
Manual exposure controlYes
Automatic exposure controlYes
Manual gain controlYes
Automatic gain controlYes
IMUYes, 3-axis accelerometer, gyro, compass
IMU Frequency1000 - 2400 Hz
LED DC Voltage12V
Power consumption (LEDs on)300mA
Multi-camera syncYes, with external sync box
Included Lens4mm F1.8, others lenses available
Diameter3.1"
Height1.5"
Weight6.25 oz (177.1 g)
Weight (without enclosure)2.75 oz (77.9)
OS SupportWindows 7, 8, Linux 3.x+
Access to raw centroid dataYes
Access to raw IMU dataYes

2014-08-16_2016

Dimensions (pdf)