DVS and DAVIS Specifications

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DVS and DAVIS Specifications Document version: 2018-06-08 Definition: EPS = Events per second Camera

CS-mount M12 x 0.5 mm Custom fixed-focus (FOV ~50 ) CS-mount CS-mount Host Connection USB 2.0 B USB 2.

0 micro Bandwidth 1 MEPS 200/600 keps, w/wo timestamps 200/600 keps w/wo timestamps 12 MEPS 12 MEPS

duplex); 6 PWM digital outputs (2.8 V); 4 PWM power outputs (2 motors); 6 analog inputs (2.

8 V) UART TTL level serial port higher custom rates up to 27 Mbps; Includes separate adapter board to

1 DVS and DAVIS Specifications Document version: Definition: EPS = Events per second Camera Specifications Current Models DVS128 (DISCONTINUED) edvs mini-edvs DAVIS240 DAVIS346 Picture Optics CS-mount M12 x 0.5 mm Custom fixed-focus (FOV ~50 ) CS-mount CS-mount Host Connection USB 2.0 B USB 2.0 mini FTDI serial USB 2.0 mini USB 2.0 micro USB 3.0 micro Bandwidth 1 MEPS 200/600 keps, w/wo timestamps 200/600 keps w/wo timestamps 12 MEPS 12 MEPS Additional I/O - 2 UART connectors up to 12 Mbps; SPI/SSI/Microwire (up to 25/50 Mbit half/full duplex); 6 PWM digital outputs (2.8 V); 4 PWM power outputs (2 motors); 6 analog inputs (2.8 V); 6 digital general purpose I/O (2.8 V) UART TTL level serial port higher custom rates up to 27 Mbps; Includes separate adapter board to FTDI/USB - - Storage - 1 microsd slot (32-bit FAT) Software jaer and caer Open source microcontroller software (NXP IDE); jaer and caer Serial for data and chip biasing; FTDI/USB to jaer Firmware closed-source jaer and caer jaer and caer

2 Power Source USB 2.0 USB Mini-B or 5 VDC USB Mini-B via serial connector USB 2.0 USB 3.0 Battery compatibility - Compatible with single cell LiPo battery (re)charging through USB Power consumption Low/high activity: 30/60 5 VDC Application-dependent <30 5 VDC With/without APS: 180/145 5 VDC With/without APS: 200/160 5 VDC Dimensions [mm] H 50 x W 50 x D 25 L 80 x W 50 Weight 65 g without lens 23 g with lens Without lens: H 18 x W 18 x D 8 With lens: H 20 x W 25 x D 19 Without lens: 2.5 g With lens: 5 g H 56 x W 62 x D 28 H 40 x W 60 x D 25 * 75 g without lens 100 g without lens * On-board compute - 32-bit dual-core ARM up to 204 MHz; Hardware FPU, 136 KB SRAM, 1MB program / data flash STM32F74xx microcontroller, 320 KB SRAM, 216 MHz operating frequency - - Hardware camera sync Yes - - Yes Yes IMU - Yes - Yes - Special features - Adjustable wake-up on visual activity Hardware real-time clock Optional external WLAN module (TCP/UDP) side mounting points Tripod mount Whitworth 1/4-20 female - - Whitworth 1/4-20 female Whitworth 1/4-20 female * Dimensions of final release, available from August Pre-release dimensions and weight: H 50 x W 70 x D 25 and 108 g

3 Sensor Specifications Current Models DVS128 DAVIS240C DAVIS346 APS / shutter type No Yes global or rolling shutter Yes global or rolling shutter CMOS technology 0.35 µm 2P4M 0.18 µm 1P6M MIM CIS 0.18 µm 1P6M MIM CIS Chip size [mm] 6 x x 5 8 x 6 Array size [pixels] 128 x x x 260 Pixel size [µm] 40 x x x 18.5 Array size [mm] 5.12 x x x 4.8 Fill factor 8.1% 22% 22% Pixel complexity 26 transistors (of which 14 analog) 3 capacitors 48 transistors 48 transistors 1 buried photodiode with micro-lens DVS Interface 15-bit parallel AER 10-bit word-parallel AER 10-bit word-serial AER Supply voltage 3.3 V 1.8 V and 3.3 V 1.8 V and 3.3 V Power (chip only) * 23 mw 1.5 ma core, 0.3 ma logic, 5.5 ma biases High activity: 14 mw ** Low activity: 5 mw High activity: 30 / 170 mw ** Low activity: 10 / 150 mw Dynamic range 120 db (~1 lux***) 2 lux to >100 klux scene illumination with f/1.2 lens with normal contrast objects Moonlight < 0.1 lux with high-contrast scene DVS: 120 db (~1 lux***); APS: 55 db DVS: 120 db (~1 lux***); APS: 56.7 db Min. contrast sensitivity 11% 14.3% (on), 22.5% (off) FPN DVS: 2.1% contrast mismatch (event threshold 1-sigma mismatch) DVS: 3.5% contrast mismatch APS: 1.25 % APS: 4.2 % Max. bandwidth 1 MEPS DVS: 12 MEPS (CPLD) APS: 35 FPS (higher in bright lighting) DVS: 12 MEPS (CPLD) APS: 40 FPS (higher in bright lighting)

4 Min. latency 12 1 klux (mean of 20 pixels) 12 1 klux (mean of 20 pixels), with high speed optimized biases for this intensity Typical latency: µs ~ 20 us Photodiode dark current at room temperature 4 fa (~10 na/cm 2 ) n/a 2.88 fa (3.8nA/cm^2) APS dark signal e /s e /s APS readout noise e 55 e * Power is quoted for a standard set of biases; it is possible to increase or reduce these figures according to biasing needs. In general, faster responses require higher current usage. ** DVS only / DVS & APS combined *** Minimum functional scene illumination is complex to quantify enquire for more details.

Camera Specifications Discontinued Models DVS128_PAER Picture Optics I/O Software Power connector Power consumption CS-mount 15-bit parallel AER (Rome or CAVIAR standards); Up to 1 MEPS; USB2.

5 Camera Specifications Discontinued Models DVS128_PAER Picture Optics I/O Software Power connector Power consumption CS-mount 15-bit parallel AER (Rome or CAVIAR standards); Up to 1 MEPS; USB2.0 for biasing and sniffing of event stream jaer USB Type B or external power 5 VDC < VDC Dimensions [mm] L 72 x W 43 Weight N/A On-board compute - Hardware camera sync - IMU - Special features - Tripod mount -

6 Sensor Specifications Discontinued Models DAVIS240A DAVIS240B APS / shutter type Yes rolling shutter Yes global or rolling shutter CMOS technology 0.18 µm 1P6M MIM 0.18 µm 1P6M MIM CIS Chip size [mm] 5 x 5 5 x 5 Array size [pixels] 240 x 180 Total: Homogeneous array: 170 x 180 APS: 220 x 180 standard, 20 x 180 test (leftmost) DVS: 190 x 180 standard, 50 x 180 test Pixel size [µm] 18.5 x x 18.5 Array size [mm] 3.33 x x 4.44 Fill factor 22% 22% Pixel complexity DVS Interface Supply voltage Power (chip only)* 44 transistors 10-bit word-parallel AER Analog: 3.3V Digital: 1.8V High activity: 13.5mW Low activity: 7.4mW 48 transistors Analog: 3.3V Digital: 1.8V High activity: 14mW Low activity: 5mW Dynamic range DVS: 120dB (~1 lux**); APS: 55dB DVS: 130dB (~1 lux**); APS: 55dB Min. contrast sensitivity 12% 11% FPN Max. bandwidth DVS: 3.5% contrast mismatch APS: 1 % DVS: 30 MEPS (self-acknowledging) 12 MEPS (CPLD) APS: 25 FPS DVS: 3.5% contrast mismatch APS: 0.5 % DVS: 50 MEPS (self-acknowledging) 12 MEPS (CPLD) APS: 35 FPS (higher in bright lighting)

7 Min. latency Photodiode dark current at room temperature 12 1klux (mean of 20 pixels), with high speed biasing with optimized biases for this intensity Typical latency: 100 us 1 ms N/A 12 1klux (mean of 20 pixels), with high speed biasing with optimized biases for this intensity Typical latency: 100 us 1 ms N/A APS dark signal 1200 e /s (unconfirmed) 1200 e /s. APS readout noise 200 e 200 e * Power is quoted for a standard set of biases; it is possible to increase or reduce these figures according to biasing needs. In general, faster responses require higher current usage. ** Minimum functional scene illumination is complex to quantify enquire for more details

DVS and DAVIS Specifications

DVS and DAVIS Specifications Document version: 2018-10-31 Definition: EPS = Events per second Camera Specifications Current Models DAVIS240 DAVIS346 Picture Optics CS-mount CS-mount Host Connection USB