OAK-D LR

The OAK-D LR is a series 2 OAK camera offering 4 TOPS processing power and the ability to run any AI model. It was designed to provide an accurate short range and long range stereo depth perception. This works by having up to 3 stereo depth pairs at different baseline distances 5, 10 and 15cm. One can also easily change the M12 lenses for the cameras, which also affects the min/max distance of stereo depth perception (additional info) and with very narrow FOV lenses it's possible to achieve 100m+ of stereo depth perception.

The OAK-D LR leverages our OAK-SoM-Pro to make a overall compact design. The use of the SoM reduces the design’s scale, making it easier to mount or fit in various robotic processes. The design is also open source allowing for any necessary modification.

For communication and power, the OAK-D LR camera uses either:

• USB-C cable - it supports both USB2 and USB3 (5Gbps / 10Gbps).
• Power-over-Ethernet (PoE) - it offers full 802.3af and Class 3 PoE compliance with 1000BASE-T speeds (1 Gbps). A PoE injector/switch is required to power the device.

RVC2 architecture on-board features:

• 4 TOPS of processing power (1.4 TOPS for AI - RVC2 NN Performance)
• Run any AI model, even custom architected/built ones (models need to be converted)
• Encoding: H.264, H.265, MJPEG - 4K/30FPS, 1080P/60FPS
• Computer vision: warp (undistortion), 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

• OAK-SoM-Pro based
• USB3.1 and 802.3at PoE
• Triple AR0234 2.3MP global shutter color sensor
• Camera Spacing {right} <-5cm-> {middle} <-10cm-> {left}
• 3 stereo baselines: 5cm, 10cm, and 15cm for short, medium, and long-range depth
• Swappable M12-mount lenses with M12 lock rings (to keep focus/alignment)
• BNO086 IMU single chip 9 axis sensor with embedded sensor fusion
• Power consumption up to 5.5W

• Industrial grade aluminum housing with Front Gorilla Glass
• 1/4" tripod mount and 75mm M4 Vesa mount

• Recovery button and RGB status LED on the bottom
• Comes with the cables rain cover, protecting the device from splashing water
• Rough dimensions: 202 x 43 x 40 mm (without rain cover)
  Rain cover dimensions: 50 x 27 x 22 mm
• Weight: 415g

Product Diagram

 Technical Specifications

Power-over-Ethernet (PoE)

The base board offers full 802.3af, Class 3 PoE compliance with 1000BASE-T speeds (1Gbps). PoE injector/switch is required to power the device. If need an injector, you can buy it here.

Camera specifications

OAK-D-LR offers triple RGB global shutter camera with M12 lenses that are easily swappable.

Sensor specification

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
• PoE circuitry: 0.5W
• AI subsystem consumption: Up to 1W
• Stereo depth pipeline subsystem: Up to 0.5W
• Video Encoder subsystem: Up to 0.5W

So the total power consumption can be up to ~5.5W if you are using all the features at 100% at the same time. 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.

We recommend using OAK Y-Adapter with USB-C Female -> USB-C Male extension cable if you are having powering issues.

Integrated IMU

This OAK camera has an integrated BNO085, a 9-axis IMU (Inertial Measurement Unit). See IMU node for the API details on how to use it.

Stereo Depth Perception

This OAK camera has a baseline of 5 cm, 10 cm, and 15 cm. Baseline distance is the distance between the left and the right stereo camera. Since we have 3 camera sensors on the OAK-D-LR, we also have 3 baseline distances, and 3 potential stereo pairs. We measured the accuracy of the 15 cm stereo pair (the left-most and right-most camera).

Stereo depth accuracy:

• 20cm - 6m: below 2% absolute depth error
• 6m - 8m: below 4% absolute depth error
• 8m - 12m: below 6% absolute depth error

Theoretical depth accuracy

As M12 lenses are swappable, user can easily change lenses to achieve wider FOV, or longer depth perception (narrower FOV):

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.

Changing lenses

As OAK-D-LR’s camera modules use M12 lenses, users can replace them without any special tools. By default, lenses are glued to the camera module, but users can remove the glue and replace the M12 lens with a different one. ArduCam’s M12 lens kit can be quite useful to test a variety of lenses to choose from.

There is 11.6mm of clearance between the M12 sensor housing and the cover lens. If you are using longer lenses (longer focal length which means narrower FOV), you might not be able to mount back the front cover.

Operating characteristics

This camera is shipped with IP65 rated enclosure. More details can be found here.

Temperature

The ambient operating temperature of RVC2 based devices is between -20°C and 50°C when fully utilizing the VPU. To find out more, see our operating temperature range documentation.

Package contains:

• OAK-D LR camera
• Ethernet cable with RJ45 plugs, 2m
• Cable USB-CA-1m
• 3x Locking rings
• Lock ring fastening tool
• Cleaning cloth

Note: PoE injector / switch is required to power the device and it is not included in the packaging. If you need an injector, you can buy it here.

Files

1. CE Certificate
2. PCBA Board
3. 3D Model (Downloads STEP file)
4. Altium design files
5. Assembly drawing
6. Assembly output
7. Fabrication Drawing
8. Fabrication output
9. Schematics