Veronica

A reference design Module for VR and Robots applications

A reference design Module for VR and Robots applications

General

The Veronica is a complete reference design hosting Inuitive’s NU4000 3D Imaging and Vision Processor, designed to meet the challenges of HMDs and robots.

use cases

  • SLAM-on-chip: implements the positioning, navigation, tracking, scheme reconstruction on NU4000. Results in accuracy along with fast update rate and low power consumption
  • Object recognition: run object recognition algorithms to enable collision avoidance scheme
  • Motion sickness reduction: minimizes the Motion-to-Photon latency without the need for cumbersome and expensive external sensors (such as a lighthouse)
  • Gesture recognition: allows hands-based gestures as user interface

Key Features

  • High frame rate real-time depth map generation
  • 6DoF (scalable to 9) pose estimation and feature tracking for SLAM (Simultaneous Localization and Mapping)

Key Benefits

  • Best fit for Head Mounted Displays – low power, small footprint
  • Operates at all lighting conditions, from darkness to daylight
  • System offload, enabled by DSP cores and a strong general-purpose processor, backed up with ultra-fast hardware accelerators
  • Active Stereoscopic IR cameras for Depth Sensing
  • Wide Field of View (FoV)
  • Supports Android, Linux and Windows OSs
  • Seamless integration with customer-designed applications
    • Easy-to-use API
    • Wide ecosystem of third-party technologies/applications to be used
  • Configurable depth sensing range: (0.2 – 1) and/or (0.5 – 4) meters (using the ‘Alternating Mode’)

Smart Sensor Hub

The Veronica reference design performs real-time processing, capable of synchronizing, time-stamping and processing inputs from multiple sensors, hence serving as a smart sensor hub.

Block Diagram

Key Parameters

General Parameters

Parameter Value Units Comments
Parameter
Power consumption
Value
670
Units
mW
Comments
Depth only, 10FPS, 3 meters' maximum range
Parameter
Module size - X
Value
132.4
Units
mm
Comments
Parameter
Module size – Y
Value
27.4
Units
mm
Comments
Parameter
Module size - Z
Value
11.5
Units
mm
Comments
Parameter
Minimum operating temperature
Value
0
Units
ᴼC
Comments
Parameter
Maximum operating temperature
Value
50
Units
ᴼC
Comments
Ambient conditions are subject to system design

Depth Image Generation

Parameter Value Units Comments
Parameter
Sensor
Value
OV9282
Units
N/A
Comments
2 monochrome sensors on board
Parameter
Max Sensor Resolution
Value
1280x800
Units
Pixels
Comments
Actual depth map size slightly smaller
Parameter
Frame rate
Value
60
Units
Fps
Comments
60 is nominal for finger tracking. Sensor supports 130 fps (@720p), 180 fps (@VGA), and more.
Parameter
Baseline
Value
100
Units
Mm
Comments
Parameter
Minimum depth sensing range
Value
0.5 / 0.2
Units
M
Comments
0.5 – long range mode, 0.2 – short range mode
Parameter
Maximum depth sensing range
Value
4.0 / 1.0
Units
M
Comments
4.0 – long range mode, 1.0 – short range mode
Parameter
Depth accuracy at maximum range
Value
1.5
Units
%
Comments
At good SNR conditions
Parameter
Max Field of view
Value
120x90
Units
Comments
Parameter
Depth map size
Value
600X450
Units
Points
Comments
HD Decimation

Tracking

Parameter Value Units Comments
Parameter
Sensor
Value
OV7251
Units
N/A
Comments
2 monochrome sensors on board
Parameter
Resolution
Value
640x480
Units
Pixels
Comments
VGA sensor supports QVGA as well
Parameter
Frame rate
Value
Up to 100
Units
Fps
Comments
@VGA Resolution
Parameter
FOV
Value
166.5
Units
Comments
Fisheye
Parameter
Baseline
Value
64
Units
Mm
Comments
Use Lattice MIPI Bridge 2:1 to interface NU3000
Parameter
IMU
Value
BMI-160
Units
N/A
Comments
6 DOF. Utilizes a gyro and an accelerometer, can incorporate an external magnetometer
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