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Intel RealSense Stereoscopic Depth Cameras

arXiv 1705.05548 ↗First posted 16 May 2017cs.CVcited by 82

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Abstract (arXiv)

We present a comprehensive overview of the stereoscopic Intel RealSense RGBD imaging systems. We discuss these systems' mode-of-operation, functional behavior and include models of their expected performance, shortcomings, and limitations. We provide information about the systems' optical characteristics, their correlation algorithms, and how these properties can affect different applications, including 3D reconstruction and gesture recognition. Our discussion covers the Intel RealSense R200 and the Intel RealSense D400 (formally RS400).

Key facts. Cited by 82 papers in the map (data through 7 Oct 2026). First posted on arXiv 16 May 2017.

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Citing papers per year: 2021: 15; 2022: 21; 2023: 15; 2024: 15; 2025: 11; 2026: 5.

82 papers.

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  1. 2024Track2Act: Predicting Point Tracks from Internet Videos enables Generalizable Robot Manipulationcited by 116
  2. 2021Learning High-Speed Flight in the Wildcited by 98
  3. 2023CompletionFormer: Depth Completion with Convolutions and Vision Transformerscited by 92
  4. 2024ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperationcited by 61
  5. 2022NeurAR: Neural Uncertainty for Autonomous 3D Reconstruction with Implicit Neural Representationscited by 54
  6. 2021Coupling Vision and Proprioception for Navigation of Legged Robotscited by 46
  7. 2022Approximate Differentiable Rendering with Algebraic Surfacescited by 44
  8. 2022Generative Action Description Prompts for Skeleton-based Action Recognitioncited by 43
  9. 2023I2-SDF: Intrinsic Indoor Scene Reconstruction and Editing via Raytracing in Neural SDFscited by 42
  10. 2022Stubborn: A Strong Baseline for Indoor Object Navigationcited by 31
  11. 2022Frame Mining: a Free Lunch for Learning Robotic Manipulation from 3D Point Cloudscited by 31
  12. 2024Depth Prompting for Sensor-Agnostic Depth Estimationcited by 26
38 more
  1. 2024Bridging the Human to Robot Dexterity Gap through Object-Oriented Rewardscited by 25
  2. 2021Trans4Trans: Efficient Transformer for Transparent Object and Semantic Scene Segmentation in Real-World Navigation Assistancecited by 22
  3. 2024SA-DVAE: Improving Zero-Shot Skeleton-Based Action Recognition by Disentangled Variational Autoencoderscited by 19
  4. 2022RGB-Depth Fusion GAN for Indoor Depth Completioncited by 18
  5. 2022Transformers are Adaptable Task Plannerscited by 15
  6. 2022TODE-Trans: Transparent Object Depth Estimation with Transformercited by 13
  7. 2022Multimodal Transformer for Nursing Activity Recognitioncited by 12
  8. 2021Facial Depth and Normal Estimation using Single Dual-Pixel Cameracited by 11
  9. 2022ReorientBot: Learning Object Reorientation for Specific-Posed Placementcited by 10
  10. 2024ASGrasp: Generalizable Transparent Object Reconstruction and 6-DoF Grasp Detection from RGB-D Active Stereo Cameracited by 9
  11. 2022Single-Photon Structured Lightcited by 8
  12. 2023Active Stereo Without Pattern Projectorcited by 8
  13. 2023SparseDC: Depth Completion from sparse and non-uniform inputscited by 8
  14. 2021ActiveZero: Mixed Domain Learning for Active Stereovision with Zero Annotationcited by 7
  15. 2023USA-Net: Unified Semantic and Affordance Representations for Robot Memorycited by 7
  16. 2023RDFC-GAN: RGB-Depth Fusion CycleGAN for Indoor Depth Completioncited by 7
  17. 2021Robust Event Detection based on Spatio-Temporal Latent Action Unit using Skeletal Informationcited by 6
  18. 2025Visual Language Models as Operator Agents in the Space Domaincited by 6
  19. 2021Depth as Attention for Face Representation Learningcited by 5
  20. 2024Learning Mutual Excitation for Hand-to-Hand and Human-to-Human Interaction Recognitioncited by 5
  21. 2022Active-Passive SimStereo -- Benchmarking the Cross-Generalization Capabilities of Deep Learning-based Stereo Methodscited by 4
  22. 2022Real-time Mapping of Physical Scene Properties with an Autonomous Robot Experimentercited by 4
  23. 2025NoTVLA: Semantics-Preserving Robot Adaptation via Narrative Action Interfacescited by 4
  24. 2025Seeing without Pixels: Perception from Camera Trajectoriescited by 4
  25. 2021In-field high throughput grapevine phenotyping with a consumer-grade depth cameracited by 3
  26. 2021Self-Supervised Depth Completion for Active Stereocited by 3
  27. 2022SafePicking: Learning Safe Object Extraction via Object-Level Mappingcited by 3
  28. 2022Scan2Part: Fine-grained and Hierarchical Part-level Understanding of Real-World 3D Scanscited by 3
  29. 2023Optimizing Algorithms From Pairwise User Preferencescited by 3
  30. 2021Predicting 3D shapes, masks, and properties of materials, liquids, and objects inside transparent containers, using the TransProteus CGI datasetcited by 2
  31. 2021Benchmarking Pedestrian Odometry: The Brown Pedestrian Odometry Dataset (BPOD)cited by 2
  32. 2023OmniLRS: A Photorealistic Simulator for Lunar Roboticscited by 2
  33. 2024A Low-Cost, High-Speed, and Robust Bin Picking System for Factory Automation Enabled by a Non-Stop, Multi-View, and Active Vision Schemecited by 2
  34. 2025DeLTa: Demonstration and Language-Guided Novel Transparent Object Manipulationcited by 2
  35. 2025Generalizable Hierarchical Skill Learning via Object-Centric Representationcited by 2
  36. 2026Event6D: Event-based Novel Object 6D Pose Trackingcited by 2
  37. 2021Generalized Closed-form Formulae for Feature-based Subpixel Alignment in Patch-based Matchingcited by 1
  38. 2022Stereo Matching with Cost Volume based Sparse Disparity Propagationcited by 1

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