Here is a comparison table featuring the main features of all the ZED Stereo Cameras:
| ZED X | ZED 2i | ZED 2 | ZED X Mini | ZED Mini | |
| Communication Protocol |
GMSL2 | USB3 | USB3 | GMSL2 | USB3 |
| Removable cable | YES | YES | NO | YES | YES |
| Dimensions | 163 mm x 30 mm x 37 mm | 175 mm x 30 mm x 43 mm | 175 mm x 30 mm x 33 mm | 94 mm x 30 mm x 37 mm | 124.5 mm x 30.5 mm x 26.5 mm |
| Baseline | 120 mm | 120 mm | 120 mm | 50 mm | 63 mm |
| Weight | 240 g | 230 g | 125 g | 150 g | 60 g |
| Case | Aluminum | Aluminum | Aluminum | Aluminum | Plastic |
| IP Rating | IP67 | IP66 | - | IP67 | - |
| Optics | ƒ/2.2 (2.2mm) ƒ/1.8 (3.8mm) |
ƒ/2.0 (2.1mm) ƒ/1.8 (4mm) |
ƒ/2.0 (2.1mm) | ƒ/2.2 (2.2mm) ƒ/1.8 (3.8mm) |
ƒ/2.0 (3.06mm) |
| Polarizer | Optional | Optional | - | Optional | |
| Image Sensor | 2x CMOS Global Shutter |
2x CMOS Rolling Shutter |
2x CMOS Rolling Shutter |
2x CMOS Global Shutter |
2x CMOS Rolling Shutter |
| Max Resolution | 1920x1200 | 2208x1242 | 2208x1242 | 1920x1200 | 2208x1242 |
| Max Frame Rate | 120 Hz @ SVGA | 100 Hz @ VGA | 100 Hz @ VGA | 120 Hz @ SVGA | 100 Hz @ VGA |
| Sensors | 6 DOF IMU Temperature |
6 DOF IMU Magnetometer Barometer Temperature |
6 DOF IMU Magnetometer Barometer Temperature |
6 DOF IMU Temperature |
6 DOF IMU |
| Tripod support | 1/4"-20 UNC | 1/4"-20 UNC | 1/4"-20 UNC | 1/4"-20 UNC | - |
| Screw mounting | 2x M4 threads (bottom) 4x M4 threads (back) |
2x M4 threads (bottom) 4x M4 threads (back) |
2x M4 threads (bottom) | 2x M4 threads (bottom) 4x M4 threads (back) |
2x M2 (bottom) 2x M2 (top) |
| Operating Temperature | -20°C to +55°C | -10°C to +45°C | -10 °C to +45°C | -20°C to +55°C | 0°C to +45°C |
| Depth accuracy | (2.2 mm) 0.1% at 0.3m (2.2 mm) 3% at 8m (3.8 mm) 0.2% to 1m (3.8 mm) 3.1% at 15m |
(2.1 mm) < 1% up to 3m (9.84ft) (2.1 mm) < 5% up to 15m (49.21) (4 mm) < 2% up to 10m (32.80) (4 mm) < 7% up to 30m (98.42ft) |
< 1% up to 3m (9.84ft) < 5% up to 15m (49.21ft) |
(2.2 mm) 0.1% at 0.1m (2.2 mm) 5.4% at 6m (3.8 mm) 0.1% to 0.15m (3.8 mm) 3.3% at 6m |
< 1.5% up to 3m < 7% up to 15m |
| Depth range | (2.2 mm) 0.3 to 20m (3.8 mm) 1 to 35m |
(2.1 mm) 0.3 m to 20 m (4 mm) 1.5 m to 35 m |
0.3 m to 20 m | (2.2 mm) 0.1 to 8m (3.8 mm) 0.15 to 12m |
0.10m to 15m |
| Field of View | Max 110 (H) x 80 (V) x 120° (D) (for 2.2mm) Max 80 (H) x 52 (V) x 91° (D) max. (for 4mm) |
Max 110°(H) x 70°(V) x 120°(D) (for 2.1 mm) Max 72°(H) x 44°(V) x 81°(D) (for 4 mm) |
Max 110°(H) x 70°(V) x 120°(D) | 110 (H) x 80 (V) x 120° (D) max. (for 2.2mm) 80 (H) x 52 (V) x 91° (D) max. (for 4mm) |
Max. 102°(H) x 57°(V) x 118°(D) |