STOC: Stereo-on-a-Chip for 3-D from the Camera!

The STOC performs stereo processing on the camera instead of on the PC, faster, with low power — just 2 watts — in a compact package. Now you can off-load the stereo computation from your PC, freeing up resources for your own application.

Tailored to your needs with 6, 9, 15, and 30 cm baselines. Highlights of the STOC include:

Pre-calibrated so it is plug-and-play
Global shutter to capture scenes with motion
Well suited for applications with limited computational resources
FireWire interface delivers video and disparity (range) information over a single cable
Seamless interface to SVS™ stereo analysis software

The STOC camera provides the perfect blend of quality, processing speed and price.

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Features

Color and monochrome versions
Global shutter: all pixels exposed at the same time
Maximum resolution: 640H x 480V pixels
Baseline options: 6, 9, 15, and 30 cm
Single-cable FireWire interface for power, data, and control
Miniature 12 mm diameter lenses
Stereo computation on the chip reduces PC computation
Factory calibrated and field upgradeable using standard SVS™ calibration procedure
Simultaneous exposure and readout
Direct digital information from the imagers, bypasses analog noise and frame grabber jitter
Synced imagers expose corresponding pixels at exactly the same time
External synchronization: all STOC devices on the same IEEE 1394 bus are synchronized to capture images simultaneously
Subsampling modes (binning and subwindow) for smaller frame sizes, faster frame rates, lower noise
Electronic gain and exposure
Fully under user control via the IEEE 1394 bus
Conforms to Digital Camera Specification version 1.30
Milled solid aluminum alloy body for extreme rigidity

Kit Contents

The following items are included:

STOC stereo head, color or monochrome
3.0 mm miniature 12 mm diameter lenses standard; optional C/CS-mount lenses for 9cm baseline
Small Vision System™ stereo analysis software (one license for either MS Windows 2000 / XP / Vista* or Linux 2.4 / 2.6)
2 meter IEEE 1394 6-pin to 6-pin cable
Tripod for 6 cm, 9 cm and 15 cm models
Hardware and Software Manuals (download)

Requirements

Pentium-compatible PC (Pentium PIII/clone or better) running MS Windows 2000 / XP / Vista* or Linux 2.4 / 2.6 kernel
IEEE 1394 PCI or PCMCIA card. IEEE 1394 card must supply 1.5W of power through the 6-pin cable. Most PCI cards do this; PCMCIA cards must have a separate transformer power input. Interface cards are available from Videre Design, see Accessories

* Vista compatible for all cameras sold after 12/01/08.

Technical Specifications

Feature	Description
STOC processor	Xilinx Spartan 3 - 1000
Processor performance	35 Gops at 84 MHz
Number of disparities	64 pixels; interpolation to 1/16 pixel
Correlation window size	15 x 15 pixels
Laplacian of Gaussian kernel	9 x 9 pixels
Post-filtering	Texture and uniqueness check
Imagers	1/3” format CMOS (Micron MT9V032) 640 x 480 active area Global shutter Progressive scan Color or monochrome
Digital Camera Specification	Version 1.30
Format	640 x 480 8 bit monochrome or Bayer color pattern 10 bit disparity
Frame Rates	7.5, 15, 30 Hz 6.25, 12.5, 25 Hz Max 30 Hz at 640 x 480
Exposure	1 line time to full frame
Gain	0 - 12 dB (1x - 4x)
Sensitivity	4.8 V/lux-sec (monochrome)
S/N	>> 60 dB, no gain
Power	30 Hz - 2.4 W 15 Hz - 1.9 W 7.5, 3.75 Hz - 1.6 W
Synchronization	Internal: pixel-locked External: 60 us
Lens	High-resolution miniature 12 mm diameter barrel, thread mount lenses, 3.0 mm focal length standard; 2.5 mm, 4.3 mm or 5.6 mm optional Other focal lengths on request STOC-9cm Option: 1/2" format C-mount, locking lenses (3.5, 4.5, or 6.0 mm)
Size	Dimensions excluding lenses: STOC-6cm: Dimensional Drawings 4.3 cm high x 8.1 cm long x 4.3 cm deep (1.7 in high x 3.2 in long x 1.7 in deep) STOC-9cm: Dimensional Drawings 4.3 cm high x 13.2 cm long x 4.1 cm deep (1.7 in high x 5.2 in long x 1.6 in deep) STOC-15cm: Dimensional Drawings 4.3 cm high x 19.3 cm long x 4.1 cm deep (1.7 in high x 7.6 in long x 1.6 in deep) STOC-30cm: Dimensional Drawings 4.3 cm high x 33.5 cm long x 4.1 cm deep (1.7 in high x 13.2 in long x 1.6 in deep)
Weight	STOC-9cm: 204 g (7.2 oz) with miniature lenses 309 g (10.9 oz) with C-mount lenses STOC-30cm: 454 g (1 lb) with miniature lenses
Stereo Baseline	6, 9, 15, and 30 cm (2.4, 3.5, 5.9, and 11.8 in) options
SVS™ software	Linux kernel 2.4, 2.6 MSW 2000, XP, Vista* * Vista compatible for all new cameras after 12/01/08. Not compatible with earlier cameras.
Environment	0 - 40° C (32 - 104° F), < 90% humidity (non-condensing)

Download STOC Data Sheet (PDF)

STOC Models

Part Number	Description
STOC-6CM-C-MINI	6 cm baseline, color, 640 x 480, miniature lenses STOC Kit
STOC-6CM-M-MINI	6 cm baseline, monochrome, 640 x 480, miniature lenses STOC Kit
STOC-9CM-C-MINI	9 cm baseline, color, 640 x 480, miniature lenses STOC Kit
STOC-9CM-M-MINI	9 cm baseline, monochrome, 640 x 480, miniature lenses STOC Kit
STOC-9CM-C-C/CS	9 cm baseline, color, 640 x 480, C/CS lenses STOC Kit
STOC-9CM-M-C/CS	9 cm baseline, monochrome, 640 x 480, C/CS lenses STOC Kit
STOC-15CM-C-MINI	15 cm baseline, color, 640 x 480, miniature lenses STOC Kit
STOC-15CM-M-MINI	15 cm baseline, monochrome, 640 x 480, miniature lenses STOC Kit
STOC-30CM-C-MINI	30 cm baseline, color, 640 x 480, miniature lenses STOC Kit
STOC-30CM-M-MINI	30 cm baseline, monochrome, 640 x 480, miniature lenses STOC Kit
STOC-OEM	STOC bare-board model for volume OEM applications

STOC Accessories

Videre Design offers a selection of lenses, cables, interface cards, and additional software licenses to meet your application needs.

Part Number	Description	Product Compatibility
LENS-MINI-2.5 Data Sheet (4400 Series)	M12 x 0.5 barrel thread, 2.5 mm high resolution miniature lens, 1/3” format, F 2.5, 113° HFOV x 86° VFOV	STOC-6CM-C-MINI, STOC-6CM-M-MINI, STOC-9CM-C-MINI, STOC-9CM-M-MINI, STOC-30CM-C-MINI, STOC-30CM-M-MINI
LENS-MINI-3.0 Data Sheet (4400 Series)	M12 x 0.5 barrel thread, 3.0 mm high resolution miniature lens, 1/3” format, F 2.0, 94° HFOV x 69 VFOV	STOC-6CM-C-MINI, STOC-6CM-M-MINI, STOC-9CM-C-MINI, STOC-9CM-M-MINI, STOC-30CM-C-MINI, STOC-30CM-M-MINI
LENS-MINI-4.3 Data Sheet (4400 Series)	M12 x 0.5 barrel thread, 4.3 mm high resolution miniature lens, 1/3” format, F 1.8, 73° HFOV x 47° VFOV	STOC-6CM-C-MINI, STOC-6CM-M-MINI, STOC-9CM-C-MINI, STOC-9CM-M-MINI, STOC-30CM-C-MINI, STOC-30CM-M-MINI
LENS-MINI-5.6 Data Sheet (4400 Series)	M12 x 0.5 barrel thread, 5.6 mm high resolution miniature lens, 1/3” format, F 2.0, 51° HFOV x 37° VFOV	STOC-6CM-C-MINI, STOC-6CM-M-MINI, STOC-9CM-C-MINI, STOC-9CM-M-MINI, STOC-30CM-C-MINI, STOC-30CM-M-MINI
LENS-CL-3.5-1/2 Data Sheet	3.5 mm, ½” format, high resolution fixed lens, F 1.4, C-mount with locking screws, 103° HFOV x 76° VFOV	STOC-9CM-C-C/CS, STOC-9CM-M-C/CS, STOC-15CM-C-C/CS, STOC-15CM-M-C/C/S
LENS-CL-4.5-1/2 Data Sheet	4.5 mm, ½” format, high resolution fixed lens, F 1.4, C-mount with locking screws, 79° HFOV x 59° VFOV	STOC-9CM-C-C/CS, STOC-9CM-M-C/CS, STOC-15CM-C-C/CS, STOC-15CM-M-C/C/S
LENS-CL-6.0-1/2 Data Sheet	6.0 mm, ½” format, high resolution fixed lens, F 1.4, C-mount with locking screws, 57° HFOV x 44° VFOV	STOC-9CM-C-C/CS, STOC-9CM-M-C/CS, STOC-15CM-C-C/CS, STOC-15CM-M-C/C/S
LENS-CL-12.0-1/2 Data Sheet	12.0 mm, ½” format, high resolution fixed lens, F 1.4, C-mount with locking screws, 30° HFOV x 23° VFOV	STOC-9CM-C-C/CS, STOC-9CM-M-C/CS, STOC-15CM-C-C/CS, STOC-15CM-M-C/C/S
LENS-CL-4.5-12.5 Data Sheet	4.5-12.5 mm: ½” format, variable focal length, F 1.2, manual iris and manual focus, CS-mount, 81° ~ 30° HFOV x 60° ~ 22° VFOV	STOC-9CM-C-C/CS, STOC-9CM-M-C/CS, STOC-15CM-C-C/CS, STOC-15CM-M-C/C/S
1394-PCI	3-Ports FireWire IEEE 1394a PCI Controller Card	All
1394-CARDBUS-110	3-Ports FireWire IEEE 1394a PCMCIA Cardbus with 110v transformer	All
1394-CARDBUS-220	3-Ports FireWire IEEE 1394a PCMCIA Cardbus with 220v transformer	All
ADAPTER-110	110v Transformer: 9 VDC / 110 VAC 500ma P-5	All
ADAPTER-220	220v Transformer: 6W 12V 0.5A MULTI PLUG, 12VDC, 500mA, Positive Center, 2.5mm I.D. x 5.5mm O.D. x 9.5mm Female, 100 ~ 240VAC, Power output 6W	All
1394-CABLE-2.0	1394 FireWire 6 pin to 6 pin 2 meter cable	All
1394-CABLE-4.5	1394 FireWire 6 pin to 6 pin 4.5 meter cable	All
1394-CABLE-10.0	1394 FireWire 6 pin to 6 pin 10 meter cable	All
SVS-MSW	Additional license for SRI Small Vision System software – MSW version	All
SVS-LINUX	Additional license for SRI Small Vision System software – Linux version	All

Overview

SVS™ Stereo Analysis Software

Downloads

Manual

Small Vision System User's Manual - Version 4.x (PDF)

Manual

STOC Stereo Head User Manual (PDF)

Data Sheet

STOC Data Sheet (PDF)

Samples, Worksheet, and Overviews

STOC Sample Images and Data
Stereo Parameter Worksheet: Calculate lens focal length and stereo baseline for your application
Imager and Lens Characteristics
Monochrome, Color, and Infrared

STOC Case Studies

Willow Garage
PR2 robot with STOC stereo cameras

Willow Garage and the PR2: STOC-9CM Camera Application

Building the Next Generation of Personal Robots

Silicon Valley start-up Willow Garage has created a robot platform that paves the way for a personal robotics industry similar to the personal computer industry...more

Home Run: STOC Camera Application

An Interactive Mobile Robot Competes in RoboCup@Home

Robots can’t quite compete in the World Cup yet, but they can compete in RoboCup@Home, an international mobile robot competition aimed at fostering the development of robotic applications...more

MIRE robot with STOC-15cm stereo cameras

New Sentry in Town: STOC-15CM Camera Application

A 3D-SLAM Dunk in Urban Situation Analysis

Using SLAM technology with the STOC stereo cameras, LIDAR technology and optical color cameras, researchers are MITRE are developing an unmanned ground vehicle to help soldiers in an urban environment...more

Grasping: STOC-9CM Camera Application

Robot Physical Interaction through the combination of Vision, Tactile and Force Feedback

Researchers at University Jaume I are developing a multipurpose assistive robot that can move, open doors, and grab objects. Their prototype, a three-fingered Service Robot, retrieves books from a library shelf. ...more