My object's depth varies from 1 mm to 10 mm. Which of the Real Sense camera is best suited for my requirement? Also help me with the details that are suited for my requirement by providing me the tolerance (error rate).

[MartyG · Accepted solution]

A recent discussion about trying to read the depth of a 2 mm polystyrene ball highlights the difficulties involved in sensing such small objects.

https://forums.intel.com/s/question/0D50P00004AwCefSAF/d415-depth-data-of-a-small-ball?language=en_US

It would therefore be ideal to position the camera as close to the tiny object as possible. The D435 model has the smallest minimum distance that the camera can be placed from the object, which is 0.2 m or 20 cm. The D415's minimum distance is 30 cm.

The error factor of the 400 Series cameras varies over distance, and depending on the model. A recent Intel seminar said that "in general, over the same distance the D415 has 2 and a half times better resolution than the D435". However, at very close range to the object, the D415 and D435's error rate is likely to be similar.

The chart below illustrates how RMS Error (depth noise) increases over distance for each model.

[JJivr]

What is the Subpixel in the given Depth RMS error ?

[Alexandra_C_Intel]

Hi JJivr, The 1/8 factor is just called the sub-pixel resolution. The resolution of the 16bit UINT datatype for Depth corresponds to 1/8 mm. When 1/8 mm is multiplied by 65535, which is the highest value of the 16bit UINT, you get the equivalent of 8m. Regards, Alexandra