STOC

STOC Features

• Stereo computation on the chip reduces PC computation
• Factory calibrated and field upgradeable using the standard SVS calibration procedure
• Maximum resolution: 640H x 480V pixels
• Color and monochrome versions
• Global shutter - all pixels exposed at the same time
• Simultaneous exposure and readout
• Direct digital information from the imagers, bypassing analog noise and frame grabber jitter
• Conforms to Digital Camera Specification version 1.30
• Single-cable interface for power, data, and control
• Synced imagers expose corresponding pixels at exactly the same time
• External synchronization - all STOC devices on the same IEEE 1394 bus 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
• Milled solid aluminum alloy body for extreme rigidity
• Accepts standard C/CS-mount lenses

STOC Kit Contents

• STH-DCSG stereo head, color or monochrome
• 3.0 mm miniature 12 mm diameter lenses standard; other lenses available as options
• Small Vision System stereo analysis software for MS Windows 2000/XP or Linux 2.4/2.6
• 2 meter IEEE 1394 6-pin to 6-pin cable
• Hardware and Software Manuals

STOC Requirements

• Pentium-compatible PC (Pentium PIII/clone or better) running MS Windows 98SE/ME/2000/XP or Linux 2.4/2.6 kernel 
• IEEE 1394 PCI or PCMCIA card*. The 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.

* Items are available from Videre Design, see Ordering

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	15x15 pixels
Laplacian of Gaussian Kernel	9x9 pixels
Post-filtering	Texture and uniqueness check
Imagers	1/3” format CMOS (Micron MT9V022) 640x480 active area Global shutter Progressive scan Color or monochrome
Digital Camera Specification	Version 1.30
Format	640x480 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 640x480
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 only: Optional 1/2" format C-mount, locking lenses (3.5, 4.5, or 6.0 mm). Add $200
Size	Dimensions excluding lenses: STOC-6cm: 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: 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: 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: 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 and XP
Environment	0-40° C, 90% humidity (noncondensing)

• STOC Stereo Head User Manual (PDF)
• Sample Images and Data
• Stereo Parameter Worksheet: Calculate lens focal length and stereo baseline for your application
• Lens Overview
• Monochrome, Color, and Infrared Overview

STOC Miniature 12 mm Diameter Lenses

• LENS-M-2.5: 2.5 mm
• LENS-M-3.0: 3.0 mm
• LENS-M-4.3: 4.3 mm
• LENS-M-5.6: 5.6 mm

STOC Small Vision System Software

• SVS-MSW
• SVS-LINUX

STOC IEEE 1394 Interface Cards

• 1394-PCI card
• 1394-CARDBUS (either 110 volts or 220 volts)

STOC FireWire Cables

• 1394-CABLE-2.0: 2 meters
• 1394-CABLE-4.5: 4.5 meters
• 1394-CABLE-10.0: 10 meters