High Accuracy, 320×240 Voxel 3D Time-of-Flight Robot Vision Reference Design
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Key Document


This reference design consist of the QVGA-Resolution 3D Time of Flight (ToF) sensor OPT8241, and the ToF controller OPT9221 and shows the performance of the TI 3D ToF solution in a similar configuration and environment of a vacuum robot as well as looks at the influence of 3D sensor (integration time, saturation), signal processing (filtering) and an external Infrared (IR) source on the measurement. The accuracy of the distance measurements of the 3D TOF solution is enabling the vacuum robot to detect and recognize object and to do a mapping of the room, allowing best path choice, reduce time and improve coverage, avoid job incomplete, collision and to get stuck under obstacles.

  • Active infrared illumination allows operation in both daylight and darkness
  • <0.1% distance measurement error
  • 320×240 pixels at 30 fps enabling:
    • Accurate object detection
    • Systematic routing
    • Avoiding collision
    • Avoiding getting stuck

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Schematic/Block Diagram

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Design Guide

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TI Devices (2)

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Part Number Name Product Family Sample & Buy Design Kits & Evaluation Modules
OPT8241  QVGA-Resolution 3D Time-of-Flight (ToF) Sensor  Specialty sensors  Sample & Buy Not Available
OPT9221  Time-of-Flight (ToF) Controller for OPT8241  Specialty sensors  Sample & Buy Not Available

CAD/CAE symbols

Part # Package | Pins CAD File (.bxl) STEP Model (.stp)
OPT8241 Download -
OPT9221 Download -

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Technical Documents

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User guides (1)
Title Type Size (KB) Date
PDF 2331 19 Jan 2018
Design files (2)
Title Type Size (KB) Date
ZIP 246 19 Jan 2018
ZIP 402 19 Jan 2018
Related Tools & Software

Reference Designs  ( 2 )

Software (1)

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