All ZED cameras use passive stereo vision combined with the AI-powered Neural Depth Engine of the ZED SDK to estimate depth. The depth range depends on the camera model, the stereo baseline, and the focal length of the optics.
The table below summarizes the depth range for each available camera model and lens option:
| Camera Model | Optics (Focal Length) | Baseline | Depth Range |
|---|---|---|---|
| ZED X | 2.2 mm | 120 mm | 0.3 m to 20 m |
| ZED X | 4 mm | 120 mm | 1.0 m to 35 m |
| ZED X Mini | 2.2 mm | 50 mm | 0.1 m to 8 m |
| ZED X Mini | 4 mm | 50 mm | 0.15 m to 12 m |
| ZED X Nano | Fixed wide-angle | 18 mm | 0.03 m to 2 m |
| ZED 2i | 2.1 mm | 120 mm | 0.3 m to 20 m |
| ZED 2i | 4 mm | 120 mm | 1.5 m to 35 m |
| ZED Mini | 2.8 mm | 63 mm | 0.1 m to 15 m |
Notes:
- The values above are the maximum hardware-supported ranges; for the best accuracy, we recommend working within the "ideal range" reported in each product datasheet.
- The minimum and maximum distances can be configured in the ZED SDK with the
depth_minimum_distanceanddepth_maximum_distanceinitialization parameters; see the Depth Settings documentation. - The legacy ZED 2 (replaced by the ZED 2i) has a depth range of 0.2 m to 20 m.
- For custom baselines and extended ranges, a virtual stereo system can be built using two ZED X One monocular cameras; the resulting depth range depends on the chosen baseline and optics.
Regarding accuracy, stereo depth error grows quadratically with distance; as a reference, the depth accuracy is typically around 1% of the distance in the near range, degrading to a few percent at the far end of the range (for example, the ZED Mini is specified at <1.5% up to 3 m and <7% up to 15 m). You can find more details on the Depth Sensing documentation page.
Various modules for more detailed explanation can be found in the links below: