ZED 2i

ZED 2i Camera and SDK Overview

The ZED 2i stereo camera combines powerful hardware and

intelligent software to create an unrivaled solution in terms of
performance, functionality and design.

Designed to function efficiently in harsh environments, the

IP66-rated ZED 2i stereo camera with its robust aluminum
body withstands severe conditions with high particulate
content, and water ingress, making it ideal for industrial
applications such as agriculture, manufacturing,
pharmaceuticals and many more.

The ZED 2i covers the entire spectrum of applications from

robotics and spatial analytics to interactive experiences.
ZED 2i | General Specification

Wide-Angle 3D AI Camera Multiple Mounting options

Combine long-range depth perception with AI to With its multiple mounting options and flat bottom,
perceive your environment in 3D with up to a 120° the ZED-2i can be easily integrated in any system
wide-angle field of view. and environment.

Multiple Lens Selection with Polarizer Built-in IMU, Barometer &

Select a 2.1mm or a 4mm lens depending on your Magnetometer
application. Add a built-in CPL polarizing filter Featuring 9-DoF sensors for spatial and positional
when working outdoors. awareness. Factory calibrated on 6-axis with
robotic arms.

IP66-rated Enclosure Secure USB Type-C Connection

Resistant to dust, water and humidity, the new Use a highly reliable USB 3.0 type-C cable with
ZED-2i is designed for outdoor applications and thumbscrew locking connectors and ensure a
challenging medical, industrial, agricultural secure interconnection for your systems.
environments, and more.

General Specifications Physical

Output Resolution Side by Side Dimension 175.25x 30.25x 43.1 mm (6.90 x

2x (2208x1242) @15fps 1.69’’)
2x (1920x1080) @30fps
2x (1280x720) @60fps Weight 166g (0.36 lb.)

Rev 1 specifications are subject to change without notice - 2022 - All rights reserved
2x (662x376) @100fps
Operating Temp. -10°C to +45° (14°F to 113°F)
Interface USB Type C - External cable (up
Power 380mA / 5V USB powered
to 10m)

Baseline 12cm (4.72 in)

System Requirements

RGB Sensors Dual 1/3" 4MP CMOS

2688 x 1520 pixels GPU NVIDIA GPU ≥ 2GB Memory
2µm x 2µm NVIDIA Compute capability ≥ 3.0
Rolling shutter Compatible with:
YUV 4:2:2 - UYV (8bits) - NVIDIA Jetson Nano
- NVIDIA Jetson TX2
- NVIDIA Jetson Xavier
Motion Sensors Gyroscope, Accelerometer,
Magnetometer
CPU Dual-core≥2.4GHz processor
Environmental Barometer Minimum 4GB RAM
Sensors Temperature
OS Windows 10 - 64bit Ubuntu
16.04/18.04 - 64 bit Debian
Warranty 2-year hardware warranty
CentOS (via Docker) Jetson
L4T
In the Box ZED 2i stereo Camera
1.5m long USB Type-C cable

www.stereolabs.com
ZED 2i | Lens Options

Focal Lengths available

2.1mm 4mm

The 2.1mm fixed focal lens If you need increased resolution and
provides an ultra wide field of view depth accuracy at longer range,
with optically corrected distortion select the 4mm focal length lens.
for increase image quality.

No More Reflections with Polarizing Filters.

Benefit from the highest possible image quality with a
built-in polarizing filter when working outdoors. This filter
helps reduce glare and reflections and increases color depth
and quality as well.

ZED 2i Available models

Specifications ZED 2i 2.1mm ZED 2i 2.1mm ZED 2i 4mm ZED 2i 4mm

w/o Polarizer with Polarizer w/o Polarizer with Polarizer

Reference ZED2i21MM ZED2i21MMP ZED2i40MM ZED2i40MMP

Rev 1 specifications are subject to change without notice - 2022 - All rights reserved
Polarizer Not available Built-in Polarizer Not available Built-in Polarizer

Focal Length 2.12mm (0.008”) 4mm (0.16”)

Field of View Max.110°(H) x 70°(V) x 120°(D) Max.72°(H) x 44°(V) x 81°(D)

Aperture f/1.8 f/1.8

TV Distortion 5.07% 5.07%

Depth Range 0.3 m to 20 m 1.5 m to 35 m

(1 to 65.6ft) (4.9 to 115ft)

Depth Accuracy < 1% up to 3m < 2% up to 10m

< 5% up to 15m < 7% up to 30m

Object Detection Up to 20m (3D) Up to 35m (3D)

Up to 40m (2D) Up to 55m (2D)

Skeleton Tracking Up to 8m Up to 15m

www.stereolabs.com
ZED 2i | Sensor stack specifications

The ZED family of depth cameras is a multi-sensor platform. The cameras have built-in sensors to add position
and motion-assisted capabilities to your app, from accelerometer and gyroscope sensors to temperature,
barometer, magnetometer and more.
The sensors can be used to detect camera movements, compute the camera orientation according to the
north magnetic pole, detect relative altitude variations, analyze external weather conditions, and much more.

Dual Image Sensors Motion/Environmental Sensors

Sensors Temperature Sensors

Sensor Type 1/3" 4MP CMOS Temperature Range -40 to 125 °C

Array Size 2688 x 1520 pixels Abs. Temperature Accuracy +/-0.5 °C

Pixel Size 2µm x 2µm Output Data Rate 25 Hz

Shutter Electronic synchronized

rolling shutter Inertial Measurement Unit
Output Resolution (Syde by Syde) Accelerometer Range +/- 8G

2x (2208x1242) @15fps - cropping mode Accelerometer Resolution 0.244 mg

2x(1920x1080) @15/30fps - cropping mode
2x (1280x720) @15/30/60fps - binning 2x2 mode Accelerometer Noise Density 3.2 mg
2x(662x376) @15/30/60/100fps - binning 4x4 mode
Gyroscope Range +/- 1000 dps
Output Format YUV 4:2:2 - UYV(8bits)
Gyroscope Resolution 0.03 dps
Max S/N Ration 38.3 dB

Dynamic Range 64.6 dB Gyroscope Noise Density 0.16 dps

Sensitivity Error +/- 0.4%

Rev 1 specifications are subject to change without notice - 2022 - All rights reserved
Sensitivity 1900 mV/Lux-sec

Baseline 12cm (4.72 in) Output Data Rate 400 Hz

Sensors API Magnetometer

Magnetic Field Range +/- 2500 µT (z)

+/- 1300 µT (x,y)
You can access these sensors and acquire
sensor data by using the Sensors API. Magnetic Field Resolution 0.3 µT

Output Data Rate 50 Hz

Barometer

Pressure Range 300 to 1100 hPa

Pressure Resolution 0.18 Pa

Relative Pressure Accuracy 0.12 hPa

RMS Noise 0.2 Pa

Output Data Rate 25 Hz

www.stereolabs.com
ZED 2i | Accessories

USB 3.0 Dual Screw Locking Cables

For many applications of the ZED-2i, longer distance between

the camera and host computer are often needed. This USB
3.0 cable allows you to extend the ZED camera range by up
to 10m (32.8ft) without any external power supply.

Length Reference

0.3m (0.98ft) CBLZED2i30

3m (10ft) CBLZED2i300
5m (16.4ft) CBLZED2i500
10m (32.8ft) CBLZED2i1000

Embedded Systems - NVIDIA® Jetson™ powered

The Stereolabs ZED Box is an industrial AI gateway offering

powerful edge computing capabilities for autonomous
robotics and spatial analytics. Specifically designed to use
with the ZED-2 and ZED-2i cameras, it is powered by an

Rev 1 specifications are subject to change without notice - 2022 - All rights reserved
NVIDIA® Jetson™ embedded GPU, enabling deployment of
state-of-the art AI and 3D vision solutions.

Available options General Specifications Reference

ZED Box Nvidia Jetson Xavier-NX NVIDIA® TX2 NX GTWTX2NX256

Power: PoE+(30W) or DC-IN 5A 12-48V
Aluminum case passively cooled
Dimensions: 109 x 92 x 52 mm (LxWxH) / 4.3 x 3.6 x 2.0
inches
ZED Box Nvidia Jetson TX2-NX

NVIDIA® Xavier NX
Power : PoE+ (30W) or DC-IN 5A 12-48V GTWXNX256
Aluminum case passively cooled
Dimensions: 109 x 92 x 52 mm (LxWxH) / 4.3 x 3.6 x 2.0
inches

www.stereolabs.com
ZED 2i | ZED SDK
General SDK Description
SDK Modules

Stereo Capture The ZED 2i is a camera with dual lenses. It captures high-definition 3D video with a wide field
of view and outputs two synchronized left and right video streams in side-by-side format on
USB 3.0

Depth Sensing Depth Map

Depth maps captured by the ZED 2i store a distance value (Z) for each pixel (X, Y) in the
image. The distance is expressed in metric units (meters for example) and calculated from the
back of the left eye of the camera to the scene object.
3D Point Cloud
Another common way of representing depth information is by a 3-D point cloud. A point cloud
can be seen as a depth map in three dimensions. While a depth map only contains the
distance or Z information for each pixel, a point cloud is a collection of 3D points (X,Y,Z) that
represent the external surface of the scene and can contain color information.

Positional Tracking The ZED 2i uses visual tracking of its surroundings to understand the movement of the user or
system holding it. As the camera moves in the real-world, it reports its new position and
orientation. This information is called the camera 6DoF pose. Pose information is output at the
frame rate of the camera, up to 100 times per second in WVGA mode.

Spatial Mapping The ZED continuously scans its surroundings and creates a 3D map of what it sees. It
updates this map as the device moves around and captures new elements in the scene.
Since the camera perceives distances beyond the range of traditional RGB-D sensors, it can
quickly reconstruct 3D maps of large indoor and outdoor areas.

Object Detection Object detection is the ability to identify objects present in an image. Thanks to depth sensing
and 3D information, the ZED camera is able to provide the 2D and 3D position of the objects
in the scene.

Rev 1 specifications are subject to change without notice - 2022 - All rights reserved
Since ZED SDK 3.6, a custom detector can be used with the API. The 2D detection are
ingested and 3D informations such as position, 3D bounding box and more are computed.
More informations in the Custom Detector page

Body Tracking Body tracking module focuses on skeleton bone detection and tracking. A detected bone is
represented by its two end points also called keypoints. The ZED camera provides 2D and 3D
information for each keypoint as well as local rotation. The ZED SDK supports two body
formats: 18 or 34 keypoints.

Functional SDK Diagram

ZED 2i ZED SDK

Static
Dynamic
Environment
Objects
Stereo Camera Mapping

IMU Sensor Neural Application Layer

Fusion Depth Perception
Barometer

Magnetometer Visual-Inertial Localization

Stereo SLAM

www.stereolabs.com
 ZED Box | Technical Drawings

Rev 1 specifications are subject to change without notice - 2022 - All rights reserved