{
  "title": "RCI Robot Depth-Camera Range and Error-Claim Audit",
  "version": "0.1.0",
  "schemaVersion": 1,
  "released": "2026-08-10",
  "catalogVersion": "0.4.5",
  "canonical": "https://robotcomponentindex.com/research/depth-camera-accuracy-claims-audit/",
  "methodology": "https://robotcomponentindex.com/methodology/",
  "rightsNotice": "RCI provides the original record selection, metric taxonomy, condition mapping, source-conflict handling and editorial analysis. Linked manufacturer documents, product names, images and marks retain their respective rights. Verify every value against the linked source before design, safety or procurement use.",
  "rankingBoundary": "No cross-model ranking is published. Absolute error, spatial precision, plane-fit RMS, typical systematic error and method-undefined accuracy are different metrics, and the underlying public test packages are incomplete.",
  "disclosureCriteria": [
    "hardwareBoundary",
    "metricDefinition",
    "distance",
    "acquisitionMode",
    "roi",
    "target",
    "ambientLight",
    "testTemperature",
    "warmupOrThermalState",
    "aggregationOrFrameCount",
    "softwareOrFirmwareVersion",
    "testedUnitCount",
    "groundTruthReference"
  ],
  "recordCount": 11,
  "rangeObservationCount": 25,
  "errorObservationCount": 16,
  "recordsWithNumericErrorOrPrecisionStatement": 11,
  "recordsWithCompleteReproductionPackage": 0,
  "disclosurePublishedCounts": {
    "hardwareBoundary": 11,
    "metricDefinition": 6,
    "distance": 11,
    "acquisitionMode": 3,
    "roi": 8,
    "target": 5,
    "ambientLight": 2,
    "testTemperature": 2,
    "warmupOrThermalState": 2,
    "aggregationOrFrameCount": 2,
    "softwareOrFirmwareVersion": 0,
    "testedUnitCount": 0,
    "groundTruthReference": 0
  },
  "metricBoundaryCounts": {
    "absolute-depth-error": 3,
    "spatial-precision": 1,
    "undefined-depth-accuracy": 8,
    "systematic-depth-accuracy": 2,
    "plane-fit-rmse-labeled-depth-accuracy": 2
  },
  "records": [
    {
      "id": "depth-audit-realsense-d455",
      "componentId": "cmp-realsense-d455",
      "componentSlug": "realsense-d455",
      "manufacturer": "RealSense",
      "model": "D455",
      "hardwareBoundary": "D455 camera using the D450 depth module; D455f filter variant is not substituted",
      "metricSelectionBoundary": "Catalog-facing Z-accuracy statement; RMS spatial noise and temporal noise remain adjacent, separate metrics.",
      "rangeObservations": [
        {
          "id": "d455-ideal-range",
          "kind": "range",
          "label": "Ideal range",
          "rangeType": "ideal-range",
          "displayedValue": "0.6–6 m",
          "minimumM": 0.6,
          "maximumM": 6,
          "sourceId": "realsense-d455-product",
          "editorialBoundary": "Manufacturer-described ideal range, not a hard detection or accuracy-qualified maximum."
        }
      ],
      "errorObservations": [
        {
          "id": "d455-z-accuracy-4m",
          "kind": "error-or-precision",
          "label": "Depth accuracy / Z-accuracy",
          "metricBoundary": "absolute-depth-error",
          "displayedValue": "<2% at 4 m",
          "qualifier": "less-than",
          "valuePercent": 2,
          "distanceM": 4,
          "resolutionOrMode": "Family datasheet: HD resolution",
          "roi": "Family datasheet: 80% ROI",
          "target": "Method paper recommends a wall or textured wall; the claim-specific qualification target is not identified",
          "sourceId": "realsense-d455-product",
          "editorialBoundary": "The product page prints “<2%”; the current family datasheet prints ±2% up to 4 m. RCI preserves the product-page wording and does not extrapolate it to 6 m."
        }
      ],
      "disclosures": {
        "hardwareBoundary": "published",
        "metricDefinition": "published",
        "distance": "published",
        "acquisitionMode": "partial",
        "roi": "published",
        "target": "partial",
        "ambientLight": "partial",
        "testTemperature": "not-published",
        "warmupOrThermalState": "not-published",
        "aggregationOrFrameCount": "partial",
        "softwareOrFirmwareVersion": "not-published",
        "testedUnitCount": "not-published",
        "groundTruthReference": "partial"
      },
      "disclosureNote": "The family method defines Z-accuracy and describes a reproducible workflow, but the public specification does not identify the exact target, illumination, temperature, frame count, firmware or tested-unit sample used for this value.",
      "completeReproductionPackage": false,
      "editorialBoundary": "An ideal range and a percentage at one distance answer different questions. D455 is not ranked against plane-fit precision or method-undefined accuracy values.",
      "sources": [
        {
          "id": "realsense-d455-product",
          "title": "RealSense D455 product page",
          "url": "https://www.realsenseai.com/products/real-sense-depth-camera-d455f/",
          "location": "Ideal Range and Depth tech specs"
        },
        {
          "id": "realsense-d400-family-datasheet",
          "title": "RealSense D400 Series Product Family Datasheet",
          "url": "https://realsenseai.com/wp-content/uploads/2025/08/Intel-RealSense-D400-Series-Datasheet-August-2025.pdf",
          "location": "Depth Quality Specification table and notes",
          "revision": "August 2025"
        },
        {
          "id": "realsense-d400-method",
          "title": "RealSense Depth Quality Testing for D400 Cameras",
          "url": "https://cdrdv2-public.intel.com/841706/RealSense_DepthQualityTesting.pdf",
          "location": "Sections 1.3 and 2.3–2.5: metric definitions, target, setup and reporting"
        }
      ],
      "verifiedDate": "2026-08-10"
    },
    {
      "id": "depth-audit-orbbec-gemini-335",
      "componentId": "cmp-orbbec-gemini-335",
      "componentSlug": "orbbec-gemini-335",
      "manufacturer": "Orbbec",
      "model": "Gemini 335",
      "hardwareBoundary": "Gemini 335 / G40155-170, not the longer-baseline 335L or filtered 336 variants",
      "metricSelectionBoundary": "Spatial precision is selected because it is the current comparison-field claim; the datasheet also publishes distinct absolute-accuracy, temporal-precision and fill-rate metrics.",
      "rangeObservations": [
        {
          "id": "gemini335-working-range",
          "kind": "range",
          "label": "Working range",
          "rangeType": "working-range",
          "displayedValue": "0.1–20 m+",
          "minimumM": 0.1,
          "maximumM": 20,
          "targetCondition": "Datasheet note: measured object reflectivity >10%",
          "sourceId": "orbbec-gemini335-v16",
          "editorialBoundary": "The plus sign is retained; this is not an accuracy-qualified interval."
        },
        {
          "id": "gemini335-product-optimal-range",
          "kind": "range",
          "label": "Product-page optimal range",
          "rangeType": "optimal-range",
          "displayedValue": "0.26–3 m",
          "minimumM": 0.26,
          "maximumM": 3,
          "sourceId": "orbbec-gemini335-product",
          "editorialBoundary": "Current product-page wording; the current V1.6 datasheet instead prints 0.3–3 m as ideal range."
        },
        {
          "id": "gemini335-datasheet-ideal-range",
          "kind": "range",
          "label": "V1.6 datasheet ideal range",
          "rangeType": "ideal-range",
          "displayedValue": "0.3–3 m",
          "minimumM": 0.3,
          "maximumM": 3,
          "sourceId": "orbbec-gemini335-v16",
          "editorialBoundary": "Kept separate from the 0.26 m product-page lower bound because the two current official sources do not name a revision boundary."
        },
        {
          "id": "gemini335-theoretical-maximum",
          "kind": "range",
          "label": "Theoretical maximum",
          "rangeType": "theoretical-maximum",
          "displayedValue": "Up to 65 m",
          "maximumM": 65,
          "sourceId": "orbbec-gemini335-v16",
          "editorialBoundary": "A theoretical encoding or calculation reach, not a 65 m target-detection or accuracy guarantee."
        }
      ],
      "errorObservations": [
        {
          "id": "gemini335-spatial-precision-2m",
          "kind": "error-or-precision",
          "label": "Spatial precision",
          "metricBoundary": "spatial-precision",
          "displayedValue": "≤1.5% RMSE at 2 m",
          "qualifier": "less-than-or-equal",
          "valuePercent": 1.5,
          "distanceM": 2,
          "resolutionOrMode": "1280 × 800",
          "roi": "90% × 90% ROI (81% of image area)",
          "target": ">80% reflectivity plane",
          "sourceId": "orbbec-gemini335-v16",
          "editorialBoundary": "RMSE to a fitted plane measures spatial noise. It is not interchangeable with the separate ±2% absolute depth-accuracy row in the same datasheet."
        }
      ],
      "disclosures": {
        "hardwareBoundary": "published",
        "metricDefinition": "published",
        "distance": "published",
        "acquisitionMode": "published",
        "roi": "published",
        "target": "published",
        "ambientLight": "partial",
        "testTemperature": "not-published",
        "warmupOrThermalState": "not-published",
        "aggregationOrFrameCount": "not-published",
        "softwareOrFirmwareVersion": "not-published",
        "testedUnitCount": "partial",
        "groundTruthReference": "not-applicable"
      },
      "disclosureNote": "V1.6 defines spatial precision and states the target, distance, resolution and ROI. “Typical conditions” and production-line validation do not disclose illuminance, thermal state, aggregation, firmware tied to the result or the number of units behind the published curve.",
      "completeReproductionPackage": false,
      "editorialBoundary": "The 0.26 m versus 0.3 m current-source difference remains explicit, and the theoretical 65 m value is not merged into the ideal range.",
      "sources": [
        {
          "id": "orbbec-gemini335-product",
          "title": "Orbbec Gemini 335 product page",
          "url": "https://www.orbbec.com/products/stereo-vision-camera/gemini-335/",
          "location": "Specifications and range footnotes"
        },
        {
          "id": "orbbec-gemini335-v16",
          "title": "Orbbec Gemini 330 Series Datasheet for USB Devices",
          "url": "https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2025/04/22062452/Gemini-330-series-Datasheet-V1.6.pdf",
          "location": "Product Specifications and sections 5.1.1–5.1.2",
          "revision": "V1.6 · 2025-04-10"
        },
        {
          "id": "orbbec-depth-quality-method",
          "title": "Orbbec Gemini 330 Series Depth Quality Metrics",
          "url": "https://doc.orbbec.com/documentation/Orbbec%20Gemini%20330%20Series%20Documentation/Depth%20Quality%20Metrics",
          "location": "Depth accuracy, spatial precision, temporal precision and fill-rate definitions",
          "revision": "Updated 2025-07-28"
        }
      ],
      "verifiedDate": "2026-08-10"
    },
    {
      "id": "depth-audit-stereolabs-zed-x",
      "componentId": "cmp-stereolabs-zed-x",
      "componentSlug": "stereolabs-zed-x",
      "manufacturer": "Stereolabs",
      "model": "ZED X",
      "hardwareBoundary": "ZED X with separate 2.2 mm and 4 mm lens columns; ZED X Mini is excluded",
      "metricSelectionBoundary": "All four lens-and-distance cells in the V1.2 Depth Accuracy row are retained; the datasheet does not publish the calculation or test setup beside them.",
      "rangeObservations": [
        {
          "id": "zedx-22-max-range",
          "kind": "range",
          "label": "Maximum depth range",
          "rangeType": "maximum-range",
          "displayedValue": "0.3–20 m",
          "minimumM": 0.3,
          "maximumM": 20,
          "hardwareVariant": "ZED X 2.2 mm",
          "sourceId": "stereolabs-zedx-v12",
          "editorialBoundary": "Lens-specific maximum, not the ideal range."
        },
        {
          "id": "zedx-22-ideal-range",
          "kind": "range",
          "label": "Ideal depth range",
          "rangeType": "ideal-range",
          "displayedValue": "0.3–12 m",
          "minimumM": 0.3,
          "maximumM": 12,
          "hardwareVariant": "ZED X 2.2 mm",
          "sourceId": "stereolabs-zedx-v12",
          "editorialBoundary": "Lens-specific ideal range."
        },
        {
          "id": "zedx-40-max-range",
          "kind": "range",
          "label": "Maximum depth range",
          "rangeType": "maximum-range",
          "displayedValue": "1–35 m",
          "minimumM": 1,
          "maximumM": 35,
          "hardwareVariant": "ZED X 4 mm",
          "sourceId": "stereolabs-zedx-v12",
          "editorialBoundary": "Lens-specific maximum, not the ideal range."
        },
        {
          "id": "zedx-40-ideal-range",
          "kind": "range",
          "label": "Ideal depth range",
          "rangeType": "ideal-range",
          "displayedValue": "1–20 m",
          "minimumM": 1,
          "maximumM": 20,
          "hardwareVariant": "ZED X 4 mm",
          "sourceId": "stereolabs-zedx-v12",
          "editorialBoundary": "Lens-specific ideal range."
        }
      ],
      "errorObservations": [
        {
          "id": "zedx-22-accuracy-2m",
          "kind": "error-or-precision",
          "label": "Depth accuracy",
          "metricBoundary": "undefined-depth-accuracy",
          "displayedValue": "<0.8% at 2 m",
          "qualifier": "less-than",
          "valuePercent": 0.8,
          "distanceM": 2,
          "hardwareVariant": "ZED X 2.2 mm",
          "sourceId": "stereolabs-zedx-v12",
          "editorialBoundary": "Numeric lens-and-distance cell; metric definition, target and test setup are not published beside the table."
        },
        {
          "id": "zedx-22-accuracy-12m",
          "kind": "error-or-precision",
          "label": "Depth accuracy",
          "metricBoundary": "undefined-depth-accuracy",
          "displayedValue": "<4% at 12 m",
          "qualifier": "less-than",
          "valuePercent": 4,
          "distanceM": 12,
          "hardwareVariant": "ZED X 2.2 mm",
          "sourceId": "stereolabs-zedx-v12",
          "editorialBoundary": "The 12 m point coincides with the listed ideal-range upper bound but does not define behavior between points."
        },
        {
          "id": "zedx-40-accuracy-2m",
          "kind": "error-or-precision",
          "label": "Depth accuracy",
          "metricBoundary": "undefined-depth-accuracy",
          "displayedValue": "<0.4% to 2 m",
          "qualifier": "less-than",
          "valuePercent": 0.4,
          "distanceM": 2,
          "hardwareVariant": "ZED X 4 mm",
          "sourceId": "stereolabs-zedx-v12",
          "editorialBoundary": "The V1.2 cell prints “to 2 m” where parallel cells print “at”; RCI preserves the wording and normalizes only the distance field."
        },
        {
          "id": "zedx-40-accuracy-20m",
          "kind": "error-or-precision",
          "label": "Depth accuracy",
          "metricBoundary": "undefined-depth-accuracy",
          "displayedValue": "<7% at 20 m",
          "qualifier": "less-than",
          "valuePercent": 7,
          "distanceM": 20,
          "hardwareVariant": "ZED X 4 mm",
          "sourceId": "stereolabs-zedx-v12",
          "editorialBoundary": "Lens-specific point at the listed ideal-range upper bound."
        }
      ],
      "disclosures": {
        "hardwareBoundary": "published",
        "metricDefinition": "not-published",
        "distance": "published",
        "acquisitionMode": "not-published",
        "roi": "not-published",
        "target": "not-published",
        "ambientLight": "not-published",
        "testTemperature": "not-published",
        "warmupOrThermalState": "not-published",
        "aggregationOrFrameCount": "not-published",
        "softwareOrFirmwareVersion": "not-published",
        "testedUnitCount": "not-published",
        "groundTruthReference": "not-published"
      },
      "disclosureNote": "The V1.2 table identifies lens and distance but does not define “Depth Accuracy” or disclose resolution, ROI, target, light, temperature, warm-up, aggregation, SDK, ground truth or sample count.",
      "completeReproductionPackage": false,
      "editorialBoundary": "The two lens options are not collapsed into one range or one accuracy value and are not ranked against cameras that publish a different metric.",
      "sources": [
        {
          "id": "stereolabs-zedx-v12",
          "title": "Stereolabs ZED X Camera Overview and Datasheet",
          "url": "https://support.stereolabs.com/hc/en-us/article_attachments/27901419903255",
          "location": "Lens-option technical specifications table",
          "revision": "Rev 1.2"
        }
      ],
      "verifiedDate": "2026-08-10"
    },
    {
      "id": "depth-audit-basler-blaze-101",
      "componentId": "cmp-basler-blaze-101",
      "componentSlug": "basler-blaze-101",
      "manufacturer": "Basler",
      "model": "blaze-101",
      "hardwareBoundary": "blaze-101, Sony DepthSense IMX556 ToF camera",
      "metricSelectionBoundary": "Typical systematic accuracy; the separate temporal-noise result is not merged into the same value.",
      "rangeObservations": [
        {
          "id": "blaze101-short-range",
          "kind": "range",
          "label": "Short-range mode",
          "rangeType": "mode-range",
          "displayedValue": "0.3–1.5 m",
          "minimumM": 0.3,
          "maximumM": 1.5,
          "operatingMode": "Short",
          "sourceId": "basler-blaze101",
          "editorialBoundary": "Separate mode; not combined with the long-range interval."
        },
        {
          "id": "blaze101-long-range",
          "kind": "range",
          "label": "Long-range mode",
          "rangeType": "mode-range",
          "displayedValue": "0.3–10 m",
          "minimumM": 0.3,
          "maximumM": 10,
          "operatingMode": "Long",
          "sourceId": "basler-blaze101",
          "editorialBoundary": "Maximum measurement interval; the ±5 mm claim is bounded to 0.5–5.5 m."
        }
      ],
      "errorObservations": [
        {
          "id": "blaze101-typical-accuracy",
          "kind": "error-or-precision",
          "label": "Typical accuracy",
          "metricBoundary": "systematic-depth-accuracy",
          "displayedValue": "±5 mm from 0.5–5.5 m",
          "qualifier": "plus-minus",
          "valueMm": 5,
          "distanceRangeM": "0.5–5.5",
          "resolutionOrMode": "Default settings; central 40 × 40 pixels",
          "roi": "Central 40 × 40 pixels",
          "target": "Flat white 90% reflectivity target",
          "sourceId": "basler-blaze101",
          "editorialBoundary": "Measured after 20-minute warm-up at 22°C, with no ambient light and a 25-image average. The public page does not identify the ground-truth instrument, tested-unit count or firmware state."
        }
      ],
      "disclosures": {
        "hardwareBoundary": "published",
        "metricDefinition": "published",
        "distance": "published",
        "acquisitionMode": "partial",
        "roi": "published",
        "target": "published",
        "ambientLight": "published",
        "testTemperature": "published",
        "warmupOrThermalState": "published",
        "aggregationOrFrameCount": "published",
        "softwareOrFirmwareVersion": "not-published",
        "testedUnitCount": "not-published",
        "groundTruthReference": "partial"
      },
      "disclosureNote": "Basler publishes nine of the thirteen audit fields. “Default settings” does not identify the exact acquisition/processing state, and the public source does not identify the reference instrument, firmware or number of tested cameras.",
      "completeReproductionPackage": false,
      "editorialBoundary": "The no-ambient-light ±5 mm test is separate from Basler’s 6 m ambient-light robustness setup and must not inherit that setup’s illumination condition.",
      "sources": [
        {
          "id": "basler-blaze101",
          "title": "Basler blaze-101 Product Documentation",
          "url": "https://docs.baslerweb.com/blaze-101",
          "location": "General Specifications and Accuracy Test Conditions",
          "revision": "Version 130 · 2026-07-14 · AW001406"
        },
        {
          "id": "basler-blaze-accuracy-method",
          "title": "Basler Accuracy and Precision (Temporal Noise)",
          "url": "https://docs.baslerweb.com/accuracy-and-precision.html",
          "location": "Accuracy definition, uniform test conditions and systematic-error results",
          "revision": "Version 130 · 2026-07-14 · AW001406"
        }
      ],
      "verifiedDate": "2026-08-10"
    },
    {
      "id": "depth-audit-realsense-d435i",
      "componentId": "cmp-realsense-d435i",
      "componentSlug": "realsense-d435i",
      "manufacturer": "RealSense",
      "model": "D435i",
      "hardwareBoundary": "D435i camera using the D430 depth module and integrated IMU",
      "metricSelectionBoundary": "Catalog-facing Z-accuracy statement; RMS spatial noise is not substituted.",
      "rangeObservations": [
        {
          "id": "d435i-ideal-range",
          "kind": "range",
          "label": "Ideal range",
          "rangeType": "ideal-range",
          "displayedValue": "0.3–3 m",
          "minimumM": 0.3,
          "maximumM": 3,
          "sourceId": "realsense-d435i-product",
          "editorialBoundary": "Manufacturer-described ideal range, not a hard maximum."
        }
      ],
      "errorObservations": [
        {
          "id": "d435i-z-accuracy-2m",
          "kind": "error-or-precision",
          "label": "Depth accuracy / Z-accuracy",
          "metricBoundary": "absolute-depth-error",
          "displayedValue": "<2% at 2 m",
          "qualifier": "less-than",
          "valuePercent": 2,
          "distanceM": 2,
          "resolutionOrMode": "Family datasheet: HD resolution",
          "roi": "Family datasheet: 80% ROI",
          "target": "Method paper recommends a wall or textured wall; the claim-specific qualification target is not identified",
          "sourceId": "realsense-d435i-product",
          "editorialBoundary": "The product page uses a less-than statement while the current family table prints ±2%; neither is extrapolated beyond the stated distance."
        }
      ],
      "disclosures": {
        "hardwareBoundary": "published",
        "metricDefinition": "published",
        "distance": "published",
        "acquisitionMode": "partial",
        "roi": "published",
        "target": "partial",
        "ambientLight": "partial",
        "testTemperature": "not-published",
        "warmupOrThermalState": "not-published",
        "aggregationOrFrameCount": "partial",
        "softwareOrFirmwareVersion": "not-published",
        "testedUnitCount": "not-published",
        "groundTruthReference": "partial"
      },
      "disclosureNote": "The family method supplies definitions and a workflow but not the exact claim-generation target, illuminance, temperature, frame count, firmware or tested-unit sample.",
      "completeReproductionPackage": false,
      "editorialBoundary": "D435i’s 2 m value and D455/D457’s 4 m values are not a one-number cross-model ranking.",
      "sources": [
        {
          "id": "realsense-d435i-product",
          "title": "RealSense D435i product page",
          "url": "https://www.realsenseai.com/products/depth-camera-d435i/",
          "location": "Ideal Range and Depth tech specs"
        },
        {
          "id": "realsense-d400-family-datasheet",
          "title": "RealSense D400 Series Product Family Datasheet",
          "url": "https://realsenseai.com/wp-content/uploads/2025/08/Intel-RealSense-D400-Series-Datasheet-August-2025.pdf",
          "location": "Depth Quality Specification table and notes",
          "revision": "August 2025"
        },
        {
          "id": "realsense-d400-method",
          "title": "RealSense Depth Quality Testing for D400 Cameras",
          "url": "https://cdrdv2-public.intel.com/841706/RealSense_DepthQualityTesting.pdf",
          "location": "Sections 1.3 and 2.3–2.5: metric definitions, target, setup and reporting"
        }
      ],
      "verifiedDate": "2026-08-10"
    },
    {
      "id": "depth-audit-orbbec-gemini-2",
      "componentId": "cmp-orbbec-gemini-2",
      "componentSlug": "orbbec-gemini-2",
      "manufacturer": "Orbbec",
      "model": "Gemini 2",
      "hardwareBoundary": "Gemini 2 / G20155-15, 50 mm baseline",
      "metricSelectionBoundary": "The datasheet labels the row “Depth Accuracy” but describes RMS distance to a fitted plane; RCI classifies the selected value as a label/method mismatch.",
      "rangeObservations": [
        {
          "id": "gemini2-unbinned-working",
          "kind": "range",
          "label": "Unbinned working range",
          "rangeType": "working-range",
          "displayedValue": "0.15–10 m",
          "minimumM": 0.15,
          "maximumM": 10,
          "operatingMode": "Unbinned Dense or Sparse Default",
          "sourceId": "orbbec-gemini2-v11",
          "editorialBoundary": "Working interval for the two unbinned default modes."
        },
        {
          "id": "gemini2-unbinned-optimal",
          "kind": "range",
          "label": "Unbinned optimal range",
          "rangeType": "optimal-range",
          "displayedValue": "0.2–5 m",
          "minimumM": 0.2,
          "maximumM": 5,
          "operatingMode": "Unbinned Dense or Sparse Default",
          "sourceId": "orbbec-gemini2-v11",
          "editorialBoundary": "Narrower than the 10 m working interval."
        },
        {
          "id": "gemini2-binned-optimal",
          "kind": "range",
          "label": "Binned optimal range",
          "rangeType": "optimal-range",
          "displayedValue": "0.15–2.5 m",
          "minimumM": 0.15,
          "maximumM": 2.5,
          "operatingMode": "Binned Sparse Default, 640 × 400",
          "sourceId": "orbbec-gemini2-v11",
          "editorialBoundary": "Mode-specific interval; not merged with the unbinned optimal range."
        }
      ],
      "errorObservations": [
        {
          "id": "gemini2-plane-fit-rmse-2m",
          "kind": "error-or-precision",
          "label": "Manufacturer-labeled Depth Accuracy",
          "metricBoundary": "plane-fit-rmse-labeled-depth-accuracy",
          "displayedValue": "≤2% at 2 m",
          "qualifier": "less-than-or-equal",
          "valuePercent": 2,
          "distanceM": 2,
          "resolutionOrMode": "1280 × 800",
          "roi": "81% ROI",
          "target": ">80% reflectivity plane",
          "sourceId": "orbbec-gemini2-v11",
          "editorialBoundary": "The accompanying method computes RMS distance from valid points to a best-fit plane and does not identify ground truth. RCI therefore does not treat the value as absolute Z-accuracy."
        }
      ],
      "disclosures": {
        "hardwareBoundary": "published",
        "metricDefinition": "partial",
        "distance": "published",
        "acquisitionMode": "published",
        "roi": "published",
        "target": "published",
        "ambientLight": "not-published",
        "testTemperature": "not-published",
        "warmupOrThermalState": "not-published",
        "aggregationOrFrameCount": "partial",
        "softwareOrFirmwareVersion": "not-published",
        "testedUnitCount": "not-published",
        "groundTruthReference": "not-published"
      },
      "disclosureNote": "Distance, resolution, ROI and target are stated. The metric label conflicts with the described plane-fit calculation, and lighting, temperature, warm-up, frame count, firmware, unit count and ground truth are absent.",
      "completeReproductionPackage": false,
      "editorialBoundary": "The 10 m working range, 5 m optimal range and 2 m plane-fit value are separate boundaries.",
      "sources": [
        {
          "id": "orbbec-gemini2-v11",
          "title": "Orbbec Gemini 2 Datasheet",
          "url": "https://www.orbbec.com/wp-content/uploads/2023/04/ORBBEC_Datasheet_Gemini-2-3.pdf",
          "location": "Product Specifications, range modes and Depth Accuracy note",
          "revision": "v1.1"
        }
      ],
      "verifiedDate": "2026-08-10"
    },
    {
      "id": "depth-audit-stereolabs-zed-2i-21",
      "componentId": "cmp-stereolabs-zed-2i",
      "componentSlug": "stereolabs-zed-2i",
      "manufacturer": "Stereolabs",
      "model": "ZED 2i 2.1 mm",
      "hardwareBoundary": "ZED 2i with the 2.1 mm lens; 4 mm lens values are excluded",
      "metricSelectionBoundary": "Both published 2.1 mm lens-and-distance cells are retained; the row has no disclosed calculation or test setup.",
      "rangeObservations": [
        {
          "id": "zed2i21-max-range",
          "kind": "range",
          "label": "Maximum depth range",
          "rangeType": "maximum-range",
          "displayedValue": "0.3–20 m",
          "minimumM": 0.3,
          "maximumM": 20,
          "hardwareVariant": "2.1 mm lens",
          "sourceId": "stereolabs-zed2i-v12",
          "editorialBoundary": "Maximum range, not the ideal range."
        },
        {
          "id": "zed2i21-ideal-range",
          "kind": "range",
          "label": "Ideal depth range",
          "rangeType": "ideal-range",
          "displayedValue": "0.3–12 m",
          "minimumM": 0.3,
          "maximumM": 12,
          "hardwareVariant": "2.1 mm lens",
          "sourceId": "stereolabs-zed2i-v12",
          "editorialBoundary": "Lens-specific ideal range."
        }
      ],
      "errorObservations": [
        {
          "id": "zed2i21-accuracy-2m",
          "kind": "error-or-precision",
          "label": "Depth accuracy",
          "metricBoundary": "undefined-depth-accuracy",
          "displayedValue": "<0.8% at 2 m",
          "qualifier": "less-than",
          "valuePercent": 0.8,
          "distanceM": 2,
          "hardwareVariant": "2.1 mm lens",
          "sourceId": "stereolabs-zed2i-v12",
          "editorialBoundary": "The metric formula and test conditions are not published beside the table."
        },
        {
          "id": "zed2i21-accuracy-12m",
          "kind": "error-or-precision",
          "label": "Depth accuracy",
          "metricBoundary": "undefined-depth-accuracy",
          "displayedValue": "<4% at 12 m",
          "qualifier": "less-than",
          "valuePercent": 4,
          "distanceM": 12,
          "hardwareVariant": "2.1 mm lens",
          "sourceId": "stereolabs-zed2i-v12",
          "editorialBoundary": "Point at the listed ideal-range upper bound; not an interpolated curve."
        }
      ],
      "disclosures": {
        "hardwareBoundary": "published",
        "metricDefinition": "not-published",
        "distance": "published",
        "acquisitionMode": "not-published",
        "roi": "not-published",
        "target": "not-published",
        "ambientLight": "not-published",
        "testTemperature": "not-published",
        "warmupOrThermalState": "not-published",
        "aggregationOrFrameCount": "not-published",
        "softwareOrFirmwareVersion": "not-published",
        "testedUnitCount": "not-published",
        "groundTruthReference": "not-published"
      },
      "disclosureNote": "Lens and distance are explicit. Resolution, metric definition, ROI, target, light, temperature, warm-up, aggregation, SDK, ground truth and sample count are not.",
      "completeReproductionPackage": false,
      "editorialBoundary": "The 4 mm option is a different hardware boundary and does not populate this exact catalog record.",
      "sources": [
        {
          "id": "stereolabs-zed2i-v12",
          "title": "Stereolabs ZED 2i Camera Overview and Datasheet",
          "url": "https://support.stereolabs.com/hc/en-us/article_attachments/27901419901463",
          "location": "2.1 mm lens technical specifications table",
          "revision": "Rev 1.2"
        }
      ],
      "verifiedDate": "2026-08-10"
    },
    {
      "id": "depth-audit-realsense-d457",
      "componentId": "cmp-realsense-d457",
      "componentSlug": "realsense-d457",
      "manufacturer": "RealSense",
      "model": "D457",
      "hardwareBoundary": "D457 camera using the D450 optical module with GMSL/FAKRA transport",
      "metricSelectionBoundary": "Catalog-facing Z-accuracy statement for the D450/D457 table; RMS spatial noise remains separate.",
      "rangeObservations": [
        {
          "id": "d457-ideal-range",
          "kind": "range",
          "label": "Ideal range",
          "rangeType": "ideal-range",
          "displayedValue": "0.6–6 m",
          "minimumM": 0.6,
          "maximumM": 6,
          "sourceId": "realsense-d457-product",
          "editorialBoundary": "Manufacturer-described ideal range, not a hard maximum."
        }
      ],
      "errorObservations": [
        {
          "id": "d457-z-accuracy-4m",
          "kind": "error-or-precision",
          "label": "Depth accuracy / Z-accuracy",
          "metricBoundary": "absolute-depth-error",
          "displayedValue": "<2% at 4 m",
          "qualifier": "less-than",
          "valuePercent": 2,
          "distanceM": 4,
          "resolutionOrMode": "D457 datasheet: HD resolution",
          "roi": "D457 datasheet: 80% ROI",
          "target": "Method paper recommends a wall or textured wall; the claim-specific qualification target is not identified",
          "sourceId": "realsense-d457-product",
          "editorialBoundary": "The product page prints <2%; the D457 datasheet prints ±2% up to 4 m. Neither value is extended to the 6 m ideal-range bound."
        }
      ],
      "disclosures": {
        "hardwareBoundary": "published",
        "metricDefinition": "published",
        "distance": "published",
        "acquisitionMode": "partial",
        "roi": "published",
        "target": "partial",
        "ambientLight": "partial",
        "testTemperature": "not-published",
        "warmupOrThermalState": "not-published",
        "aggregationOrFrameCount": "partial",
        "softwareOrFirmwareVersion": "not-published",
        "testedUnitCount": "not-published",
        "groundTruthReference": "partial"
      },
      "disclosureNote": "Metric, distance and ROI are public; the exact claim-generation target, illumination, temperature, frame count, firmware, ground-truth instrument and tested-unit sample are not.",
      "completeReproductionPackage": false,
      "editorialBoundary": "Transport and enclosure differences do not make the D457 accuracy row independent of its D450 depth-module and method boundary.",
      "sources": [
        {
          "id": "realsense-d457-product",
          "title": "RealSense D457 GMSL/FAKRA product page",
          "url": "https://www.realsenseai.com/products/d457-gmsl-fakra/",
          "location": "Ideal Range and Depth tech specs"
        },
        {
          "id": "realsense-d457-datasheet",
          "title": "RealSense D457 Datasheet",
          "url": "https://realsenseai.com/wp-content/uploads/2025/12/RealSense-D457-Datasheet-Dec-2025.pdf",
          "location": "D450/D457 Depth Quality Specification table and notes",
          "revision": "December 2025"
        },
        {
          "id": "realsense-d400-method",
          "title": "RealSense Depth Quality Testing for D400 Cameras",
          "url": "https://cdrdv2-public.intel.com/841706/RealSense_DepthQualityTesting.pdf",
          "location": "Sections 1.3 and 2.3–2.5: metric definitions, target, setup and reporting"
        }
      ],
      "verifiedDate": "2026-08-10"
    },
    {
      "id": "depth-audit-orbbec-gemini-2-xl",
      "componentId": "cmp-orbbec-gemini-2-xl",
      "componentSlug": "orbbec-gemini-2-xl",
      "manufacturer": "Orbbec",
      "model": "Gemini 2 XL",
      "hardwareBoundary": "Gemini 2 XL camera plus OBox processing boundary, G30056-66 / G30056-86",
      "metricSelectionBoundary": "The datasheet labels the row “Depth Accuracy” but describes RMS distance to a fitted plane; RCI preserves that mismatch.",
      "rangeObservations": [
        {
          "id": "gemini2xl-unbinned-working",
          "kind": "range",
          "label": "Unbinned working range",
          "rangeType": "working-range",
          "displayedValue": "0.4–20 m",
          "minimumM": 0.4,
          "maximumM": 20,
          "operatingMode": "Unbinned Dense or Sparse Default",
          "sourceId": "orbbec-gemini2xl-v10",
          "editorialBoundary": "Working interval, not the accuracy-qualified distance."
        },
        {
          "id": "gemini2xl-unbinned-optimal",
          "kind": "range",
          "label": "Unbinned optimal range",
          "rangeType": "optimal-range",
          "displayedValue": "0.4–10 m",
          "minimumM": 0.4,
          "maximumM": 10,
          "operatingMode": "Unbinned Dense or Sparse Default",
          "sourceId": "orbbec-gemini2xl-v10",
          "editorialBoundary": "Mode-specific optimal interval."
        },
        {
          "id": "gemini2xl-binned-optimal",
          "kind": "range",
          "label": "Binned optimal range",
          "rangeType": "optimal-range",
          "displayedValue": "0.4–5 m",
          "minimumM": 0.4,
          "maximumM": 5,
          "operatingMode": "Binned Sparse Default, 640 × 400",
          "sourceId": "orbbec-gemini2xl-v10",
          "editorialBoundary": "Mode-specific interval; not merged with the unbinned range."
        }
      ],
      "errorObservations": [
        {
          "id": "gemini2xl-plane-fit-rmse-4m",
          "kind": "error-or-precision",
          "label": "Manufacturer-labeled Depth Accuracy",
          "metricBoundary": "plane-fit-rmse-labeled-depth-accuracy",
          "displayedValue": "≤2% at 4 m",
          "qualifier": "less-than-or-equal",
          "valuePercent": 2,
          "distanceM": 4,
          "resolutionOrMode": "1280 × 800",
          "roi": "81% ROI",
          "target": ">80% reflectivity plane",
          "sourceId": "orbbec-gemini2xl-v10",
          "editorialBoundary": "The method text computes RMS distance to a best-fit plane and supplies no ground truth. RCI does not silently relabel it absolute Z-accuracy."
        }
      ],
      "disclosures": {
        "hardwareBoundary": "published",
        "metricDefinition": "partial",
        "distance": "published",
        "acquisitionMode": "published",
        "roi": "published",
        "target": "published",
        "ambientLight": "not-published",
        "testTemperature": "not-published",
        "warmupOrThermalState": "not-published",
        "aggregationOrFrameCount": "partial",
        "softwareOrFirmwareVersion": "not-published",
        "testedUnitCount": "not-published",
        "groundTruthReference": "not-published"
      },
      "disclosureNote": "Distance, resolution, ROI and target are stated, but metric naming and calculation do not align. Lighting, thermal state, aggregation count, firmware, unit count and ground truth are absent.",
      "completeReproductionPackage": false,
      "editorialBoundary": "The 20 m working interval, 10 m optimal interval, 5 m binned interval and 4 m error statement remain separate.",
      "sources": [
        {
          "id": "orbbec-gemini2xl-v10",
          "title": "Orbbec Gemini 2 XL Datasheet",
          "url": "https://orbbec.com/wp-content/uploads/2023/12/ORBBEC_Datasheet_Gemini-2-XL.pdf",
          "location": "Product Specifications, mode ranges and Depth Accuracy note",
          "revision": "v1.0"
        }
      ],
      "verifiedDate": "2026-08-10"
    },
    {
      "id": "depth-audit-stereolabs-zed-x-mini-22",
      "componentId": "cmp-stereolabs-zed-x-mini-22",
      "componentSlug": "stereolabs-zed-x-mini-22",
      "manufacturer": "Stereolabs",
      "model": "ZED X Mini 2.2 mm",
      "hardwareBoundary": "ZED X Mini with the 2.2 mm lens; 4 mm lens and full-size ZED X are excluded",
      "metricSelectionBoundary": "Both V1.2 cells for the exact 2.2 mm Mini column are retained; the datasheet does not publish a test method beside them.",
      "rangeObservations": [
        {
          "id": "zedxmini22-max-range",
          "kind": "range",
          "label": "Maximum depth range",
          "rangeType": "maximum-range",
          "displayedValue": "0.1–8 m",
          "minimumM": 0.1,
          "maximumM": 8,
          "hardwareVariant": "ZED X Mini 2.2 mm",
          "sourceId": "stereolabs-zedx-v12",
          "editorialBoundary": "Maximum range, not the ideal range."
        },
        {
          "id": "zedxmini22-ideal-range",
          "kind": "range",
          "label": "Ideal depth range",
          "rangeType": "ideal-range",
          "displayedValue": "0.1–4 m",
          "minimumM": 0.1,
          "maximumM": 4,
          "hardwareVariant": "ZED X Mini 2.2 mm",
          "sourceId": "stereolabs-zedx-v12",
          "editorialBoundary": "Exact-lens ideal range."
        }
      ],
      "errorObservations": [
        {
          "id": "zedxmini22-accuracy-2m",
          "kind": "error-or-precision",
          "label": "Depth accuracy",
          "metricBoundary": "undefined-depth-accuracy",
          "displayedValue": "<1.6% at 2 m",
          "qualifier": "less-than",
          "valuePercent": 1.6,
          "distanceM": 2,
          "hardwareVariant": "ZED X Mini 2.2 mm",
          "sourceId": "stereolabs-zedx-v12",
          "editorialBoundary": "The metric formula and test setup are not disclosed beside the table."
        },
        {
          "id": "zedxmini22-accuracy-4m",
          "kind": "error-or-precision",
          "label": "Depth accuracy",
          "metricBoundary": "undefined-depth-accuracy",
          "displayedValue": "<3% at 4 m",
          "qualifier": "less-than",
          "valuePercent": 3,
          "distanceM": 4,
          "hardwareVariant": "ZED X Mini 2.2 mm",
          "sourceId": "stereolabs-zedx-v12",
          "editorialBoundary": "Point at the listed ideal-range upper bound; not an interpolated curve."
        }
      ],
      "disclosures": {
        "hardwareBoundary": "published",
        "metricDefinition": "not-published",
        "distance": "published",
        "acquisitionMode": "not-published",
        "roi": "not-published",
        "target": "not-published",
        "ambientLight": "not-published",
        "testTemperature": "not-published",
        "warmupOrThermalState": "not-published",
        "aggregationOrFrameCount": "not-published",
        "softwareOrFirmwareVersion": "not-published",
        "testedUnitCount": "not-published",
        "groundTruthReference": "not-published"
      },
      "disclosureNote": "Exact lens and distance are public; metric definition, mode, ROI, target, illumination, thermal state, aggregation, SDK, ground truth and sample count are not.",
      "completeReproductionPackage": false,
      "editorialBoundary": "The old product-page U state is resolved only through the current versioned V1.2 datasheet and remains lens-specific.",
      "sources": [
        {
          "id": "stereolabs-zedx-v12",
          "title": "Stereolabs ZED X Camera Overview and Datasheet",
          "url": "https://support.stereolabs.com/hc/en-us/article_attachments/27901419903255",
          "location": "ZED X Mini 2.2 mm technical specifications column",
          "revision": "Rev 1.2"
        }
      ],
      "verifiedDate": "2026-08-10"
    },
    {
      "id": "depth-audit-basler-blaze-102",
      "componentId": "cmp-basler-blaze-102",
      "componentSlug": "basler-blaze-102",
      "manufacturer": "Basler",
      "model": "blaze-102",
      "hardwareBoundary": "blaze-102 industrial ToF camera",
      "metricSelectionBoundary": "Typical systematic accuracy; temporal noise remains a separate metric.",
      "rangeObservations": [
        {
          "id": "blaze102-short-range",
          "kind": "range",
          "label": "Short-range mode",
          "rangeType": "mode-range",
          "displayedValue": "0.3–1.5 m",
          "minimumM": 0.3,
          "maximumM": 1.5,
          "operatingMode": "Short",
          "sourceId": "basler-blaze102",
          "editorialBoundary": "Separate mode; not combined with the long-range interval."
        },
        {
          "id": "blaze102-long-range",
          "kind": "range",
          "label": "Long-range mode",
          "rangeType": "mode-range",
          "displayedValue": "0.3–10 m",
          "minimumM": 0.3,
          "maximumM": 10,
          "operatingMode": "Long",
          "sourceId": "basler-blaze102",
          "editorialBoundary": "Maximum measurement interval; accuracy is bounded to 0.5–5.5 m."
        }
      ],
      "errorObservations": [
        {
          "id": "blaze102-typical-accuracy",
          "kind": "error-or-precision",
          "label": "Typical accuracy",
          "metricBoundary": "systematic-depth-accuracy",
          "displayedValue": "±5 mm from 0.5–5.5 m",
          "qualifier": "plus-minus",
          "valueMm": 5,
          "distanceRangeM": "0.5–5.5",
          "resolutionOrMode": "Default settings; central 40 × 40 pixels",
          "roi": "Central 40 × 40 pixels",
          "target": "Flat white 90% reflectivity target",
          "sourceId": "basler-blaze102",
          "editorialBoundary": "Measured after 20-minute warm-up at 22°C, with no ambient light and a 25-image average. Reference instrument, tested-unit count and firmware state are not identified."
        }
      ],
      "disclosures": {
        "hardwareBoundary": "published",
        "metricDefinition": "published",
        "distance": "published",
        "acquisitionMode": "partial",
        "roi": "published",
        "target": "published",
        "ambientLight": "published",
        "testTemperature": "published",
        "warmupOrThermalState": "published",
        "aggregationOrFrameCount": "published",
        "softwareOrFirmwareVersion": "not-published",
        "testedUnitCount": "not-published",
        "groundTruthReference": "partial"
      },
      "disclosureNote": "Nine audit fields are public. Exact acquisition/processing state, ground-truth reference, firmware and tested-camera count remain incomplete.",
      "completeReproductionPackage": false,
      "editorialBoundary": "The fixed-condition accuracy test and the separate ambient-light robustness test are not merged.",
      "sources": [
        {
          "id": "basler-blaze102",
          "title": "Basler blaze-102 Product Documentation",
          "url": "https://docs.baslerweb.com/blaze-102",
          "location": "General Specifications and Accuracy Test Conditions",
          "revision": "Version 130 · 2026-07-14 · AW001406"
        },
        {
          "id": "basler-blaze-accuracy-method",
          "title": "Basler Accuracy and Precision (Temporal Noise)",
          "url": "https://docs.baslerweb.com/accuracy-and-precision.html",
          "location": "Accuracy definition, uniform test conditions and systematic-error results",
          "revision": "Version 130 · 2026-07-14 · AW001406"
        }
      ],
      "verifiedDate": "2026-08-10"
    }
  ]
}