[Article] Comparison and selection of RealSense D415 and D435

The popular 3D camera Intel RealSense D series has two types, D415 and D435. This time I would like to introduce the difference between the D2 and D415. We would be pleased if you can refer to it when you are uncertain which model to choose.

* This article refers to the following WEB pages
Choosing an Intel RealSense Depth Camera

The main differences in specifications between the D415 and D435 are as follows.

Part 1: Viewing angle (FoV)

D415: approx. 70 °
D435: approx. 90 °

Part 2: Shutter type

D415: Rolling shutter
D435: Global shutter

Due to the wider viewing angle and the adoption of a global shutter that is less likely to cause distortion when shooting moving objects, the D435 can be regarded as a higher-end model, but the D415 is actually superior to the D435. There are the following differences.

Part 3: Differences regarding modules

D415: Uses Intel RealSense D415 module
D435: Uses Intel RealSense D430 module

With the D415, the Imagers, Emitters, and RGB cameras are on one computer board or stiffener, which makes calibration much easier.

On the other hand, in the D435, the RGB camera is not on the module (the RGB camera is separately connected to the module). Since the depth algorithm is based on the exact placement of the sensor, it can be difficult to calibrate between depth and RGB without fixing it to the same stiffener. However, the flexibility of being able to select an RGB camera is also a feature that users have long been asking for, and this is a merit depending on how the user uses it.

Part 4: Imager differences

D415: Uses a 2-megapixel Imager
D435: Uses a 1-megapixel Imager

From a camera performance perspective, the wide viewing angle of the D435 means that the granularity value is small (that is, the resolution is low) when looking at a particular part of the image. The stereo camera uses two sensors to acquire two images from slightly different viewpoints and compare them to determine the depth.

For applications such as obstacle avoidance and people detection, there is no big difference, but for applications where accuracy is the highest priority such as 3D scanning, it can be said that the D415 can perform better and more accurate scanning.
(In other words, D415 is more than twice as accurate as D435).

Part 5: Difference of minimum Z

カメラとキャプチャ対象との距離(最小Z)について、D435はD415と比べて任意の範囲でより多くの深度ノイズ (>2倍) があり、同じ解像度での最小操作距離が小さくなる(約0.5倍)ため、カメラにより近づことができます。たとえば、848×480の解像度において、D415の最小Zはおよそ29cm、一方D435の最小Zはおよそ17cmとなります。

■ Summary

Each of the D415 and D435 has its own characteristics, and it can be said that the best selection method is to use the D415 and DXNUMX according to the user's purpose (the price is more affordable for the DXNUMX).

Recommended for such applications

D435:
Due to the wide viewing angle,Navigation and tracking applications for robots and drones Suitable for The global shutter also provides excellent performance when shooting fast moving objects.

D415:
Accuracy is required for the acquired image dataApplications such as 3D scanning Suitable for

In Tegara's overseas product procurement service for research and development "Unipos",RealSense D seriesFool you.