S11 3D Camera | MRDVS Tech Knowledge Hub

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1 Product Overview

1.1 Product Introduction

S11 is an all－solid－state RGBD camera based on dToF technology，designed for mobile robots，offering both Ethernet and USB interfaces． The core capability is to achieve real－time depth perception with a maximum accuracy of 1 cm within a range of 0.1-5 meters（up to）indoors and outdoors．It can simultaneously output depth data，RGB images and IR（infrared）images，providing a cost－effective and highly stable visual solution for core functions such as obstacle avoidance，spatial perception and modeling of mobile robots．In addition，a MIPI interface custom module is provided，which has the same core performance parameters as the standard model，with only differences in hardware configuration such as communication interface，size，and power supply mode，to meet the integration requirements in different scenarios．

1.2 Functional Features

dToF depth sensing technology：Directly measures the time it takes for the laser signal to travel to and from the target object to calculate distance．Compared with iToF，it has higher accuracy（≤1cm），a wider effective detection range（0.1-5m）， and stronger outdoor resistance to ambient light interference． Simultaneous output of multiple data：Depth map，RGB map and IR amplitude map can be output simultaneously，with no delay in data acquisition． All－solid－state structure design：No mechanical moving parts，compact size (90×25×25mm)，light weight（about 130 g for the network port model，about 90 g for the USB model），better shock resistance and stability，and customizable MIPI interface modules available upon request(120°：33×18×12mm，140°：33×18×13mm）.

1.3 Application Scenarios

Application Scenarios	Description
Cleaning robot	Ground obstacle detection
Industrial mobile robots	AGV／AMR
Service robot	Sales assistants，delivery
Home companion robot	Environmental perception
Special robots	Low temperature，wet conditions

Figure 1 Application scenario

2 Specification Parameters

S11 Camera	Ethernet	USB	MIPI
Usage environment	Indoor／Outdoor	Indoor／Outdoor	Indoor／Outdoor
Depth technology	dToF	dToF	dToF
Laser wavelength	940 nm	940 nm	940 nm
Depth ranging Range	0.1-5m (118°), 0.1-3m (140°), reflectivity：10%-90%	0.1-3m (140°), reflectivity：10%-90%	0.1-5m (118°), 0.1-3m (140°), reflectivity：10%-90%
Ranging accuracy	1 cm	1 cm	1 cm
Output data	Depth map（point cloud）／RGB map／IR（amplitude）map	Depth map（point cloud）／RGB map／IR（amplitude）map	Depth map（point cloud）／IR（amplitude） map
Depth resolution／frame rate	240×96＠max． 20fps／10fps（typical）	240×96＠max． 20fps／10fps（typical value）	240×96＠max． 20fps／10fps（typical）
Depth FOV	118°×44°±3° 140°×56°±3°	140°×56°±3°	118°×44°±3° 140°×56°±3°
RGB resolution／frame rate	1280×1080@max.20fps／10fps（typical）	1280×1080.20fps 10fps（typical）	N／A
RGB FOV	120°×110°±3°	120°×110°±3°	N/A
RGBD alignment	Support	Support	N／A
Data Interface	Ethernet	USB	MIPI
Operating temperature	-20℃~60℃	-20℃~60℃	N／A
Storage temperature	-40℃~70℃	-40℃~70℃	N／A
Time synchronization	PTP	PTP	N／A
Protection class	IP54（Ethernet）	N／A	N／A
Eye safety	CLASS I	CLASS I	CLASS I
External dimensions	90×25×25mm	90×25×25mm	33×18×12mm（120°） 33×18×13mm（140°）
Weight	About 130g（Ethernet）	About 90g
Power consumption	＜4W（average），13W（peak）	＜4W（average），13W（peak）	≤2W（average）,8W（peak）
Power supply mode	12V~28V DC	5V USB3.0 power supply	3.3V/5V DC
Software environment	C／C＋＋／ROS SDK	C／C＋＋／ROS SDK	C／C＋＋／ROS SDK
System Support	Windows 7／8／10／11， Linux，Arm Linux／ROS	Windows 7／8／10／11， Linux，Arm Linux／ROS	Windows 7／8／10／11， Linux，Arm Linux／ROS
Anti－light interference	100 kLux	100 Klux	100 kLux

3 Product Structure

Figure 2 Size diagram of the S11 network port model

Figure 3 S11 USB size diagram

Figure 4 S11 MIPI module 120° size diagram

Figure 5 The 140° dimension diagram of the S11 MIPI module

4 Camera Integration Guide

4.1 Camera detection range

Figure 6 2D view of the S11 series 140°×56°±3° camera field of view

Figure 7 2D view of the S11 series 118°×44°±3° camera

4.2 （Important）Installation Notes

4.2.1 Recommended installation methods

When installing the 3D vision camera, special clearance treatment must be applied to the illustrated clearance area, and no objects are allowed within that area． If an object intrudes into the space, it will directly cause interference to the device＇s point cloud data, and then lead to a series of problems such as picture noise, false stoppage, and abnormal data．

Figure 8 Schematic diagram of the camera＇s evasive range area

4.2.2 Causes of camera anomalies

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

1．Improper hardware installation：Physical occlusion and field of view （FOV）trimming

Structural frame，ribs，etc．intrude into the sensor＇s nominal field of view，or are installed eccentrically or with too small an opening，causing the field of view to be trimmed and the sensor to misidentify the structural component as the target．Typical manifestations include fixed blind spots，false close－range distance measurement，and field of view compression，which can lead to device obstacle avoidance missed detection，path misjudgment，and reduced perception reliability．

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

This is the most common cause of failure，where the narrow installation space causes abnormal reflection crosstalk of infrared light，mainly in three categories：

First，the inner wall reflection causes multipath interference．Infrared light is received after being reflected multiple times by the inner wall of the structural component，causing the detection time to change and the calculated distance to distort．

Second，strong reflective surfaces cause local failure．Mirror－like reflection occurs in high－gloss smooth materials（polished metals，mirrors），resulting in local signal failure to receive or overexposure saturation．

Third，strong reflection of close－range structures causes high light pollution． When the distance between the sensor and the structural component is less than 10 cm and the material is bright and smooth，the strong reflected light causes the receiver to saturate．The iToF camera phase is disrupted by highlights and cannot calculate the flight time．Such disturbances can cause data distortion，accelerate receiver aging，and affect the core functionality of the device．

3．Optical interference：Interference from optical Windows

Interference caused by the material and cleanliness of optical Windows such as the protective glass in front of the sensor is mainly divided into three categories：

First，multiple reflections cause artifact interference．Reflections on the inner and outer surfaces of the window create artifacts that mix with the effective signal， resulting in depth map gimmings，flying spots，and lidar point cloud duplication

Second，contamination and fogging cause a decrease in the signal－to－noise ratio． Closed Spaces can cause fogging and dust accumulation on Windows，making it impossible for sensors to recognize effective signals

Third，mismatched materials cause signal attenuation．The signal may not penetrate ordinary glass or acrylic，resulting in global data loss．Window interference can lead to increased measurement errors，damage to the lens，and increased maintenance costs．Replacing high－transparency glass can improve the situation．

4. Other hidden influencing factors

First，installation stress：too tight snap causes lens micro－deformation，optical axis offset，and ToF camera optical axis offset causes distance deviation．

Second，thermal interference：Poor heat dissipation in confined Spaces，sensor temperature rise，thermal deformation of the window causes distance drift，which is prone to large－scale failure in the long term．

4.3 SDK

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

4.4 Operating Environment and reliability

Project	ㅤ	Specifications
Working environment	Temperature	-20℃~60℃
ㅤ	Illumination	0KLUX－－100KLUX
Storage environment	Temperature	-40℃~70℃
ㅤ	Humidity	Relative humidity：maximum 90％RH
Normal operating temperature rise	ㅤ	Shell temperature rise ＜25℃
ESD grade	ㅤ	Contact discharge ±4KV，air discharge ±8KV
RE grade	ㅤ	Compliant with GB 9254 CLASS A specifications
Working life	ㅤ	Three years
Environmental certification	ㅤ	RoHS

5 Quick Use Guide

5.1 Connection Testing

Figure 9 Schematic diagram of connection testing

5.1.1 Camera power supply

Insert one end of the DC power cord into the camera＇s DC power interface and connect the other end to a 24V/2A DC power adapter． Observe the camera power indicator light．When the indicator light is blue and flashes slowly，it indicates that the power is on normally． If the indicator light doesn＇t light up or shows an anomaly（such as a constantly lit red light），check if the power interface is plugged in and if the power adapter is powered on．

5.1.2 Network configuration

Connect the camera＇s communication interface directly to the computer＇s network port using a Category 6 cable The camera comes with a factory default of 192．168．100．82． Set your computer＇s IP to be in the same network segment as your camera and turn off your computer＇s firewall．

5.1.3 Run the software

Run the accompanying upper computer software to obtain the camera image， check if the image is clear，without screen flickering or lag，and confirm that the connection is normal． Refer to the interface instructions of 5.3 or the LxCameraViewer upper computer software user manual for use． If you have any other questions，contact Maier Microvision sales or technical support for further assistance．

5.2 Interface Instructions

LxCameraViewer upper computer software supports opening and viewing on multiple devices，supports viewing depth map，intensity map，point cloud map，RGB map output，and supports reading and setting parameters such as basic camera functions and basic algorithm configuration．Users can view and save the image data of the camera，as well as detailed data of the configuration and algorithm within the camera through the software．

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

Figure 10 Overview of the software interface（Camera not turned on）

When the camera is turned on，there is an additional function bar on the right side of the interface（area 3），which can be accessed by clicking on the＂Basic Tools＂，＂Applied Algorithms＂，＂Others＂menu at the top．Among them，the basic Tools offer functions such as image display，2D Settings，3D Settings，filtering，etc．

Figure 11 Overview of the software interface（Open the camera）

The device list is located in the top left corner of the interface．Click the text［On］ or［Off］to turn the camera on or off．The device list，located in the middle of the left side of the interface，shows camera information，software operations，operation results， and fetch results．Device information is located in the lower left corner of the interface，showing information about the devices currently selected in the device list．

Clicking the［Capture］button allows the device to start or stop capturing images． Once clicked，the button will be unavailable until the operation is completed．Click the【 Single Save 】 button to save the image of the stream data that has been opened．Click the checkboxes of［Depth Map］［Intensity Map］［RGB］［Point Cloud］ to open images in the desired format as needed．

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

6 Frequently Asked Questions

Serial Number	Questions	Instructions
1	Clicking to open the camera has no response	It is necessary to check and turn off the firewall Settings to ensure that the camera communication is not intercepted
2	The host computer detects multiple IP addresses	Because there is an IP address conflict within the local area network，you need to manually select the correct IP address to open the camera
3	The data flow is unstable after the camera is turned on	It is recommended to use a gigabit cable to connect the camera．Using a 100 －megabit cable may cause unstable initial data transmission
4	Software installation location	Default installation to the C drive may cause abnormal operation due to system permission restrictions．It is recommended to choose an installation directory with appropriate read and write permissions

7 Notes

This product emits invisible laser during operation. To avoid eye damage, please be cautious.

The laser emitted by this product complies with Class 1 safety standards and will not cause harm to the human body under normal use as per EN60825 requirements.