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The OAK-D Short Range PoE with ToF (OAK-D SR PoE) was designed to provide an accurate short to medium-range depth perception (ideally up to 3m). It’s ideal for applications like bin picking, for pick and place machines, quality control/automated manufacturing, robotics arms, and more. It features a robust, IP66-rated enclosure.

Besides the stereo camera pair (2x OV9782, 2cm baseline distance) it features ToF sensor which has an ideal range of 20cm to 5m, and depth accuracy of <1% indoors, <2% outdoors.

The OAK-D SR PoE leverages our OAK-SoM-Pro to make an overall compact design. The use of the SoM reduces the design’s scale, making it easier to mount or fit in various robotic processes.

Hardware specifications

This OAK camera uses Power-over-Ethernet (PoE) for communication and power. It offers full 802.3af and Class 3 PoE compliance with 1000BASE-T speeds (1 Gbps). A PoE injector/switch is required to power the device. It also features an IP66-rated enclosure.

Camera module specifications

Camera Specs

Stereo pair / Color



OV9782 (color, PY074)

33D ToF


89.5° / 80° / 55°

82.3° / 70° / 54.7°


1MP (1280x800)

VGA (640x480)

Range / Focus

FF: 20cm - ∞

20cm - 6m

Max Framerate

120 FPS (800P)

45 FPS (VGA)

Pixel size

3µm x 3µm

7µm x 7µm

Lens size

1/4 inch

1/3.2 inch


2.0 ±5%

1.45 ± 5%

Effective Focal Length



RVC2 inside

This OAK device is built on top of the RVC2. Main features:


Note that on the schematics below, the enclosure isn’t the same as on the OAK-D SR PoE, but pins/connections are the same.


M8 aux connector has 8pin female A-coded connector and the M12 ethernet has 8pin female X-coded connector.

M12 pin

M8 pin

M8 functionality


Eth MX0+


Pull this pin high with 10k resistor at startup for USB boot


Eth MX0-


Hardware Frame Synchronization input/output signal for cameras


Eth MX1+


USB 2.0 interface that can be used to connect to the OAK device (eg. reflash) if USB boot is enabled (via AUX GPIO 3V3)


Eth MX1-


USB 2.0 interface that can be used to connect to the OAK device (eg. reflash) if USB boot is enabled (via AUX GPIO 3V3)


Eth MX3+


This pin is used for sourcing 5V power to external devices connected to the M8 connector. If trying to boot the device in USB boot mode, this pin can also sink current


Eth MX3-


Strobe output signal for cameras or I2S SCK, depends on internal switch configuration


Eth MX2+


1-wire communication or I2S_WS signal


Eth MX2-



Cameras also include an M8 connector cap for waterproofing in case the M8 connector wouldn’t be used.

External triggering: Sensors require 1V8 rising edge on FSYNC for the trigger event. We are using an optocoupler and ESD protection diode, so the input trigger voltage should be 12V (up to 24V) and the trigger logic is reversed, so trigger event happens at 0V on the FSYNC line. For an example, see External FSYNC Example.

Dimensions and Weight

  • Width: 80 mm

  • Height: 52 mm

  • Length: 46 mm

  • Weight: 297g (with enclosure)

Stereo depth perception

This OAK camera has a baseline of 2 cm - the distance between the left and the right stereo camera. Minimal and maximal depth perception (MinZ and Max) depends on camera FOV, resolution, and baseline- more information here.

Note that if you don’t need accurate depth perception below 70cm this OAK camera might not be ideal for your application.

ToF depth perception

Time-of-flight (ToF) technology works by sending out modulated light signal (infrared, at 940nm in our case), which bounces off objects and returns to the sensor. The sensor then measures the time taken by the light to travel back and uses this to calculate the distance (depth) of the object/scene from the sensor.



Depth range limits

20cm - 5m

Depth accuracy

<1% indoors, <2% outdoors

Depth precision


VSCEL wavelength


Output interface:

2-lane MIPI

Ideal operating range 1

0°C - 60°C

Operating temperature 2

-20°C to 70°C


No visible degradation of the depth quality


ToF is still fully functioning

Note that the temperature ranges are for the ToF sensor itself, not for the whole camera. The SoM/RVC2 itself heats up the whole camera quite a bit, and we haven’t yet measured the ambient temperature ranges for the OAK-D SR PoE.

ToF vs Stereo for depth perception


  • Active stereo cameras can work in low-light conditions but might struggle outside, as dots from dot projector are not visible in sunlight (due to overexposure/saturation)

  • ToF isn’t as affected by the lighting conditions; it works in low-light environments and outside (a lot of light) as well

Depth error

  • Stereo depth cameras usually have below 3% of depth error. Its depth error increases exponentially with distance.

  • ToF sensors have a depth error of <1% indoors, <2% outdoors. Its depth error doesn’t increase exponentially with distance.

Potential Stereo issues

Potential ToF issues

  • Issues when using multiple ToFs (interference)

  • Reflective surfaces / Transparent surfaces

  • Multiple-path reflections (where the light bounces off multiple surfaces before returning to the sensor)

  • Limited resolution: 640x480, which is considered quite high among ToF sensors.

Power consumption

Most of the power is consumed by the RVC2, so the power consumption mostly depends on the workload of the chip:

  • Base consumption + PoE circuitry + camera streaming: 3W - 3.5W

  • AI subsystem consumption: Up to 1W

  • Stereo depth pipeline subsystem: Up to 0.5W

  • Video Encoder subsystem: Up to 0.5W

So the total power consumption can be up to ~5.5W if you are using all the features at 100% at the same time. To reduce the power consumption, you can reduce FPS of the whole pipeline - that way, subsystems won’t be utilized at 100% and will consume less power.

Operating temperature

The ambient operating temperature of RVC2 based devices is between -20°C and 50°C when fully utilizing the VPU.

Similarly to the Power consumption, max operating temperature depends on VPU utilization. The higher the VPU utilization, the more heat the VPU will generate. The RVC2 VPU can continuously operate at 105 °C, after which the depthai library will automatically shut down the device (to avoid chip damage).

To find out more, see our Operative temperature range documentation.

Open Source Hardware

This hardware design is open source, and all design files are available on GitHub.

Got questions?

Head over to Discussion Forum for technical support or any other questions you might have.