Video camera


Specification

Two identical video cameras are located in the forehead.

They provide a 640x480 resolution at 30 frames per second. They can be used to identify objects in the visual field such as goals and balls, and bottom camera can ease NAO’s dribbles.

NAO Model v4.0 v3.x
Sensor Model MT9M114 OV7670
Camera output 960p@30fps (YUV422 color space) VGA@30fps (YUV422 color space)
Field of view 72.6°DFOV (60.9°HFOV, 47.6VFOV) 58°DFOV (47.8°HFOV, 36.8°VFOV)
Focus range 30cm ~ infinity 30cm ~ infinity
Focus type Fixed focus Fixed focus

The picture underneath is a RGB conversion of the YUV422 file sent by the camera.

../../_images/hardware_frame.jpg

Location

Head 4.0

../../_images/hardware_camera_lateral_4.0.png
../../_images/hardware_camera_top_4.0.png
Camera name X(m) Y(m) Z(m) WX(rd)[deg]* WY(rd)[deg]* WZ(rd)[deg]*
CameraTop 0.05871 0.0 0.06364 0.0 0.0209 [1.2] 0.0
CameraBottom 0.05071 0.0 0.01774 0.0 0.6929 [39.7] 0.0

Note

We adopt the roll, pitch and yaw notation for angle representation. So, to construct an homogeneous transform with rotation (Wx,Wy,Wz) use T=rotZ(Wz)*rotY(Wy)*rotX(Wx).

Head 3.3

../../_images/hardware_cameraposition.png
Camera name X(m) Y(m) Z(m) WX(rd)[deg]* WY(rd)[deg]* WZ(rd)[deg]*
CameraTop 0.0539 0.0 0.0679 0.0 0.0 0.0
CameraBottom 0.0488 0.0 0.02381 0.0 0.6981 [40.0] 0.0

Warning

The first lot of V3.3 heads had a conception that did not warrant the angle between the 2 cameras. For those heads, the angle between the cameras is around 32°.

Head 3.2

../../_images/hardware_cameraposition.png
Camera name X(m) Y(m) Z(m) WX(rd)[deg]* WY(rd)[deg]* WZ(rd)[deg]*
CameraTop 0.0539 0.0 0.0679 0.0 0.0 0.0
CameraBottom 0.0488 0.0 0.02381 0.0 0.6981 [40.0] 0.0

Note

We adopt the roll, pitch and yaw notation for angle representation. So, to construct an homogeneous transform with rotation (Wx,Wy,Wz) use T=rotZ(Wz)*rotY(Wy)*rotX(Wx).