S10Ultra is a compact，wide－angle，and cost－effective industrial－grade LiDAR and camera integrated device．Based on dToF technology，it offers high－performance depth data ranging from 0.2 m to 42 m both indoors and outdoors．The camera internally aligns RGB images and depth maps in both space and time， and is equipped with an IMU（with a data output frequency of up to 200 Hz ），effectively supporting mainstream SLAM algorithms such as FastLio and FastLio2．This product comes with an SoC，supports soft triggering，and is available in a MIPI module version．

1.2 Functional features

dToF depth perception technology：It directly measures the time it takes for a laser signal to travel to and from an object to calculate the distance．It has a wider effective detection range（）and stronger resistance to environmental light interference（100 kLux）． Multi－data synchronous output：It can simultaneously output depth maps，high－quality RGB images，and IR images，supporting spatio－temporal synchronization． All－solid－state structure design：No mechanical moving parts，compact size ，superior shock resistance and stability，providing RGBD aligned data．

1.3 Application scenarios

Lawn mowing robot：When the robot operates independently in environments such as courtyards and lawns，it achieves precise positioning and navigation．

Industrial quadruped robots：Enhance the positioning，navigation，and environmental perception capabilities of robot dogs in complex industrial scenarios such as inspection and exploration．

Multi－rotor drones：Enhance the positioning，navigation，obstacle avoidance and environmental perception capabilities of drones in scenarios such as inspection and mapping．

Figure 1：Lawn mower，quadruped robot and multi－rotor drone equipped with S10Ultra

2 Specification parameters

Performance indicators	S10Ultra
Usage environment	indoor and outdoor
Deep technology	dToF
laser wavelength	940nm
Depth ranging range	0.2-42m(90% reflectivity) 0.2-30m(10% reflectivity)
Distance measurement accuracy	≤4cm
Output data	Depth (point cloud) map / RGB map / IR (amplitude) map
Depth resolution/frame rate	240×160 @ Max 10fps/10fps (typical value)
Deep Field of View	120° × 80° ± 3°
RGB resolution／frame rate	1280×1080＠Max 20fps，10fps（typical value）
RGB FOV
RGBD alignment	Support
Data interface	Ethernet
Working temperature	to
Storage temperature	to
Time synchronization	PTP
Degree of protection	IP67
Eye safety	CLASS I
Overall dimensions
weight	About 440 g
Power consumption
Power supply mode
Software environment	C／C＋＋／ROS SDK
System support	Windows 7／8／10／11，Linux，Arm Linux／ROS
Anti－glare interference	100 kLux
IMU output frequency	200 Hz

3 Product Information

3.1 Product appearance

Figure 2 Product Appearance Diagram

3.2 Structural drawings

Figure 3 Product Structure Drawing

3.3 Product Components

Figure 4 Product Component Diagram

4 Camera Integration Guide

4.1 Camera Detection Range

4.2 SDK

Refer to the MRDVS upper computer user manual and SDK development guide．

4.3 （Important）Installation Precautions

4.3.1 Recommended installation method

When installing the 3D vision camera，special clearance treatment must be carried out for the clearance range shown in the diagram．No objects are allowed to exist within this range．If there are any objects intruding into the clearance range，it will directly cause interference to the point cloud data of the equipment，and then lead to a series of problems such as noise in the picture，false obstacle detection，and abnormal data．

Figure 5 Schematic Diagram of the Camera＇s Clear Space Range Area

4.3.2 Reasons for camera malfunction

If the camera is installed in an improper environment，it may interfere with the core working principles such as time－of－flight measurement and triangulation，thereby causing a series of usage abnormalities．The specific reasons are as follows：

1、Improper hardware installation：Physical obstruction and field of view（FOV）clipping

The frame，ribs and other structural components of the sensor intrude into the nominal field of view，or the installation is eccentric or the opening is too small，resulting in the field of view being cropped and the sensor misidentifying the structural components as targets．The typical manifestations are fixed blind spots，false close－range distance measurement，and field of view compression，which can lead to missed obstacle detection by the equipment，incorrect path judgment，and reduced perception reliability．

2、Optical interference：Near－field infrared crosstalk and reflection

This is the most common cause of failure．Abnormal reflection and crosstalk of infrared light due to narrow installation space mainly fall into three categories：

First，the inner wall reflection causes multipath interference．The infrared light is reflected multiple times by the inner walls of the structural components before being received，which changes the detection time and distorts the calculated distance．

Second，highly reflective surfaces can cause local failure．Materials with high gloss and smoothness（such as polished metal and mirrors）produce specular reflection，resulting in local signal reception failure or overexposure and saturation．

Thirdly，strong reflection from nearby structures causes high light pollution．When the distance between the sensor and the structural component is less than 10 cm and the material is highly reflective and smooth，the strong reflected light leads to saturation of the receiver．The phase of the iToF camera is disrupted by the high light，making it impossible to calculate the flight time．Such interference can cause data distortion，accelerate the aging of the receiver，and affect the core functions of the device．

3、Optical interference：Interference at the optical window

The material and cleanliness of the optical windows such as the protective glass in front of the sensor can cause interference，which mainly falls into three categories：

First，multiple reflections cause artifact interference．Reflections from the inner and outer surfaces of the window form artifacts that mix with the effective signals，resulting in ghosting and flying points in the depth map，as well as repeated points in the LiDAR point cloud．

Second，contamination and fogging lead to a decrease in the signal－to－noise ratio．In a confined space，the window is prone to fogging and dust accumulation，making it difficult for the sensor to identify valid signals．

Thirdly，mismatched materials can cause signal attenuation．Signals may not be able to penetrate ordinary glass or acrylic，resulting in the loss of all data．Window interference can increase measurement errors，damage the lens，and increase maintenance costs．Replacing with high－transparency glass can improve the situation．

4、Other implicit influencing factors

First，installation stress： Excessive tightness of the snap－on mechanism causes slight deformation of the lens and misalignment of the optical axis． Misalignment of the optical axis of the ToF camera leads to distance measurement errors．

Second，thermal interference：Poor heat dissipation in a confined space causes temperature rise of the sensor and thermal deformation of the window，leading to distance measurement drift and large－scale failure over a long period．

4.4 Usage environment and reliability

Project	ㅤ	Specification
working environment	temperature	-20℃-- 75℃
ㅤ	Illuminance	0KLUX--100KLUX
Storage environment	temperature	-40℃--85℃
ㅤ	Humidity	Relative humidity：Max 90% RH

5 Quick Start Guide

5.1 Connection test

Figure 6 Schematic Diagram of Connection Test

5.1.1 Camera power supply

Insert one end of the DC power cable into the DC power interface of the camera and connect the other end to a DC power adapter．

Observe the power indicator light of the camera．When the indicator light flashes slowly in blue，it indicates that the power－on is normal．

If the indicator light does not light up or shows an abnormality（such as a constantly lit red light），please check whether the power interface is securely plugged in and whether the power adapter is powered on．

5.1.2 Network configuration

Connect the communication interface of the camera directly to the network port of the computer using Category 6 network cable．

The camera＇s default factory IP address is 192．168．100．82．

Set the computer＇s IP address in the same network segment as the camera and turn off the computer＇s firewall．

5.1.3 Run the software

Run the accompanying upper computer software，obtain the camera image，check if the image is clear，free of screen flickering or lagging，and confirm that the connection is normal．

Please refer to the interface description in 5.3 or the user manual of the LxCameraViewer upper computer software for usage．

If you have any other questions，please contact Myer Microvision sales or technical support for further assistance．

5.2 Interface description

The LxCameraViewer upper computer software supports the opening and viewing of multiple devices，and can display depth maps，intensity maps，point cloud maps，and RGB images．It also enables the reading and setting of basic camera functions and algorithm parameters．Users can view and save the image data of the camera，as well as detailed configuration and algorithm data within the camera through the software．

The initial interface of this software is divided into three major sections：the list bar（No．1，blue area），the menu bar（No．2，green area），and the image display bar（No．4，red area）．Double－clicking in the menu bar area can maximize or minimize the interface，and holding down the left mouse button and moving the mouse can drag the interface．

Figure 7 Overview of the software interface（camera not opened）

After opening the camera，a right－side function bar（area 3）appears on the interface．You can click on the top menus＂Basic Tools＂，＂Apply Algorithm＂，and＂Others＂to access the required functions．Among them，the Basic Tools offer functions such as image display，2D settings，3D settings，and filtering．

Figure 8 Overview of the software interface（with camera open）

The device list is located at the top left corner of the interface．Clicking on the text＂Open＂or＂Close＂can turn the camera on or off．The device list is in the middle of the left side of the interface and displays camera information， software operations，operation results，and stream acquisition results．The device information is at the bottom left corner of the interface，showing the relevant information of the currently selected device in the device list．

Clicking the＂Collect＂button starts or stops the image collection．The button will be unavailable until the current operation is completed．Clicking the＂Single Save＂button saves the image of the currently active stream data．Checking the＂Depth Map＂，＂Intensity Map＂，＂RGB＂，and＂Point Cloud＂checkboxes enables the collection of images in the desired formats as needed．

For more detailed information，please refer to the LxCameraViewer PC software user manual．

6 Frequently Asked Questions

No.	Question	Explanation
1	The camera does not respond when turned on.	The firewall settings need to be checked and adjusted to ensure that the camera communication is not being intercepted.
2	The upper computer detected multiple IP addresses.	Due to IP address conflicts within the local area network, it is necessary to manually select the correct IP address in order to turn on the camera.
3	After turning on the camera, the data flow is unstable.	It is recommended to connect the camera with a gigabit network cable. Using a 100-megabit network cable may result in unstable initial data transmission.
4	Software installation location	The default installation is to the C drive. However, due to system permission restrictions, it may cause abnormal operation. It is recommended to choose an installation directory with appropriate read and write permissions.

7 Notes

This product emits invisible laser during operation. During use, it is necessary to avoid damaging the eyes.

The laser emitted by this product complies with Class 1 safety level. According to EN60825 requirements, it will not cause harm to the human body during normal use.

S11 3D Camera

S10 3D Camera