bcosta
Posts: 2
Joined: Mon Oct 08, 2018 6:44 am

Suitable camera for vision positioning (ORB-SLAM or SVO) on RPi 3B+

Mon Oct 08, 2018 7:33 am

Hi all,

I am looking for recommendations on a camera module to use with a Raspberry Pi 3B+ and thought this is a great place to ask.

I want to use the RPi + Camera + IMU (Inertial Measurement Unit) to try realtime mono-RGB outdoor positioning.

From all my reading on this topic, to get the best result I really want the following features in the camera module:
* Global shutter camera module
* External trigger support (To synchronize with the IMU, and maybe later try stereo-RGB)
* CSI (Camera Serial Interface) support [PREFERRED]
* Not too expensive :-) (say less than $150)

I noticed the ArduCam AR0134 or MT9V034 modules (http://www.arducam.com/camera-modules/g ... er-camera/) support this, but from reading more they use a HiSpi (High Speed Serial Pixel Interface) or CPI (Camera Paralle Interface) instead of the standard CSI.

From other reading (https://www.electroschematics.com/11140 ... interface/) it appears the CSI port on RPi is specially connected to the GPU and so reduces overhead on the RPi, but these ArduCam modules don't support CSI.

Also the OV5647 module could have support but currently doesn't expose it (https://www.raspberrypi.org/forums/view ... 43&t=48238)

Does anyone have suggestions for camera modules that might meet all my requirements above with CSI?

Thanks,
Brendon.

6by9
Raspberry Pi Engineer & Forum Moderator
Raspberry Pi Engineer & Forum Moderator
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Re: Suitable camera for vision positioning (ORB-SLAM or SVO) on RPi 3B+

Mon Oct 08, 2018 9:57 am

bcosta wrote:
Mon Oct 08, 2018 7:33 am
Hi all,

I am looking for recommendations on a camera module to use with a Raspberry Pi 3B+ and thought this is a great place to ask.

I want to use the RPi + Camera + IMU (Inertial Measurement Unit) to try realtime mono-RGB outdoor positioning.

From all my reading on this topic, to get the best result I really want the following features in the camera module:
* Global shutter camera module
* External trigger support (To synchronize with the IMU, and maybe later try stereo-RGB)
* CSI (Camera Serial Interface) support [PREFERRED]
* Not too expensive :-) (say less than $150)

I noticed the ArduCam AR0134 or MT9V034 modules (http://www.arducam.com/camera-modules/g ... er-camera/) support this, but from reading more they use a HiSpi (High Speed Serial Pixel Interface) or CPI (Camera Paralle Interface) instead of the standard CSI.
ArduCam appear to make a USB shield for them. It's extra cost and complexity, but possibly an option.
bcosta wrote:From other reading (https://www.electroschematics.com/11140 ... interface/) it appears the CSI port on RPi is specially connected to the GPU and so reduces overhead on the RPi, but these ArduCam modules don't support CSI.
I wish all blog posts had to have a date on them! The fact that has a picture with an original model B and is referencing the OV5647 should give a clue that it is from before April 2016 when the IMX219 came out.
Yes the GPU can talk directly to the CSI2 receiver, but there is also a Linux kernel driver that can do that, and allows you to write your own sensor drivers.
bcosta wrote:Also the OV5647 module could have support but currently doesn't expose it (https://www.raspberrypi.org/forums/view ... 43&t=48238)
OV5647 and IMX219 are rolling shutter.
OV5647 does have a frame extension mode where all pixels can be triggered to start exposing simultaneously, however it has no way to read out the array instantaneously, therefore each successive line has a slightly longer exposure time. You could add a mechanical shutter to solve that, but none of the standard Pi cameras have such a shutter.
bcosta wrote:Does anyone have suggestions for camera modules that might meet all my requirements above with CSI?
Supply is going to be your issue. The main sensor manufacturers (Sony, OmniVision, OnSemiconductors, Panasonic, Toshiba, and others) are all likely to have some form of product that may fit your requirements, but they are generally not set up for selling them to the general public. Often they sell the bare silicon and rely on others to do the packaging, hence the original OV5647 module coming via Sunny Optical who did the packaging with lens etc.
As with all suppliers they need to make a profit, therefore they are unlikely to be interested in selling a few dozen parts to an individual when they can be talking millions a year to automotive manufacturers.
There are some bridge chips available for converting between parallel and CSI2 if you really have to, but they are generally not cheap.
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bcosta
Posts: 2
Joined: Mon Oct 08, 2018 6:44 am

Re: Suitable camera for vision positioning (ORB-SLAM or SVO) on RPi 3B+

Mon Oct 15, 2018 11:03 pm

Thanks for the information. It looks like the Arducam + USB shield will probably be my best option to try at first.

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