# RGB-D Cameras

| Camera     | Intel RealSense                                            | Stereolabs Zed          | MYNT EYE               | Astra                         |
| ---------- | ---------------------------------------------------------- | ----------------------- | ---------------------- | ----------------------------- |
| Lens       | One RGB + Two IR                                           | Two RGB                 | Two RGB (Quad IR)      | <p>One RGB</p><p>+ One IR</p> |
| Depth Tech | Stereo IR                                                  | Stereo                  | Stereo + IR (optional) | IR                            |
| Shutter    | <p>Global Shutter (Two IR)</p><p>Rolling Shutter (RGB)</p> | Rolling Shutter         | Global Shutter         | Rolling Shutter               |
| IMU        | Yes (D435i)                                                | Yes (Zed Mini or Zed 2) | Yes                    | No                            |
| Outdoor    | Yes                                                        | Yes                     | Yes                    | No                            |
| Comments   |                                                            | NVIDIA GPU required     | GPU optional           |                               |

* Intel RealSense D435i: <https://store.intelrealsense.com/buy-intel-realsense-depth-camera-d435i.html>
* Stereolabs: <https://www.stereolabs.com/>
* MYNT EYE: <https://www.mynteye.com/> (Note: this company has shutdown in early 2020.)
* Intel RealSense cameras sorted by depth tech (see [this blog](https://www.intelrealsense.com/beginners-guide-to-depth/) for more information)
  * Stereo IR: D400 series  (outdoor)
  * Structured or Coded Light: SR300 series  (indoor)
  * ToF or LiDAR: L515 series  (indoor)