Yes, the ZED SDK Positional Tracking module provides pose estimation at up to the full camera framerate, depending on the tracking generation used. The ZED SDK includes two positional tracking generations, GEN_1 and GEN_3, each designed to meet different performance and accuracy requirements.
GEN_3 (recommended)
GEN_3 is a feature-based visual-inertial SLAM pipeline that does not rely on depth computation; it is lightweight and supports loop closure and relocalization.
| Platform | Max FPS | CPU (%) | GPU (%) |
|---|---|---|---|
| Jetson Orin NX 16GB | up to 80 FPS | 13 | 44 |
Accuracy (VIO, ~400 m test sequences): mean APE of 0.56 m indoors (warehouse with reflective lights) and 0.29 m outdoors (structured sceneries during the day).
GEN_1
GEN_1 is a dense VSLAM approach that relies on depth data, so its maximum framerate is bound to the compute framerate of the selected depth mode (see Depth Modes).
| Depth Mode | Max FPS | CPU (%) | GPU (%) |
|---|---|---|---|
| Neural Light | Depth compute FPS | 13 | 77 |
| Neural | Depth compute FPS | 8 | 80 |
| Neural Plus | Depth compute FPS | 4 | 94 |
GEN_1 is optimized for VIO and is well suited for low-texture or feature-poor environments; GEN_3 is recommended for feature-rich environments, area mapping, and long-term navigation.
All benchmarks were obtained with ZED SDK v5.1.1, ZED X Driver v1.3.2, and a ZED X camera, using the positional tracking sample available on GitHub. Performance also depends on the camera resolution/framerate and the host platform.
For the complete benchmark tables, including accuracy comparisons between all modes, please refer to the Positional Tracking Modes documentation.
Additional Resources:
Positional Tracking Overview
Depth Modes
How does the ZED work?
Getting Started with your ZED camera