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Document Number: 337029-008

Intel

RealSense

Product Family D400 Series

Datasheet

Intel

RealSense™ Vision Processor D4, Intel

RealSense™ Vision

Processor D4 Board, Intel

RealSense™ Vision Processor D4 Board V2,

Intel

RealSense™ Depth Module D400, Intel

RealSense™ Depth Module

D410, Intel

RealSense™ Depth Module D415, Intel

RealSense™ Depth

Camera D415, Intel

RealSense™ Depth Module D420, Intel

RealSense™

Depth Module D430, Intel

RealSense™ Depth Camera D435, Intel®

RealSense™ Depth Camera D435i

Revision 008

May 2020

Description and Features 
 
 
337029-008                     3 
Contents 
Description and Features .................................................................................. 13 
Introduction .................................................................................................... 14 
1  Purpose and Scope of this Document ....................................................... 14 
2  Terminology ......................................................................................... 14 
3  Stereo Vision Depth Technology Overview ................................................ 15 
4  Camera System Block Diagram ............................................................... 17 
5  Intel
®
 RealSense™ Depth Module D400 series Product SKUs ...................... 18 
6  Intel
®
 RealSense™ Depth Camera D400 series Product SKUs ..................... 19 
Component Specification .................................................................................. 20 
1  Vision Processor D4 Camera System Components ..................................... 20 
2  Host Processor ..................................................................................... 20 
3  Intel
®
 RealSense™ Vision Processor D4 ................................................... 20 
3.1  Vision Processor D4 Features .................................................... 20 
3.2  Vision Processor D4 Signal Description ....................................... 21 
3.3  Vision Processor D4 Package Mechanical Attributes ...................... 26 
3.4  Vision Processor D4 Power Requirements .................................... 32 
3.5  Vision Processor D4 Power Sequencing ....................................... 32 
3.6  Vision Processor D4 Spec Code .................................................. 33 
3.7  Vision Processor D4 Storage and Operating Conditions ................. 33 
3.8  Vision Processor D4 Thermals ................................................... 34 
4  Clock ................................................................................................... 34 
5  Serial (SPI) Flash Memory ...................................................................... 34 
6  Stereo Depth Module ............................................................................. 34 
6.1  Left and Right Imagers ............................................................. 36 
6.2  Infrared Projector .................................................................... 37 
6.3  Color Sensor ........................................................................... 38 
6.4  Depth Module Connector .......................................................... 39 
6.5  Stereo Depth Module Label ....................................................... 39 
6.6  Stiffener ................................................................................. 40 
6.7  Temperature Sensor ................................................................ 40 
6.8  Other Stereo Depth Module Components .................................... 40 
6.9  Mechanical Dimensions ............................................................. 41 
6.10  Stereo Depth Module Power Sequence........................................ 42 
6.11  Stereo Depth Module Storage and Powered Conditions ................. 42 
7  Intel
®
 RealSense™ Vision Processor D4 Board .......................................... 43 
7.1  Mechanical Dimensions ............................................................. 44 
7.2  Depth Module Receptacle .......................................................... 44 
7.3  Flex and Rigid Interposer Interconnect ....................................... 44 
7.4  External Sensor Sync Connector ................................................ 49 
7.5  USB Peripheral Connector – Type-C ........................................... 49 
7.6  Color Image Signal Processor (ISP) ............................................ 51 
7.7  Vision Processor D4 Board Power Requirements .......................... 51 
7.8  Vision Processor D4 Board Thermals .......................................... 51 
7.9  Vision Processor D4 Board Storage and Powered Conditions .......... 52 
7.10  Intel
®
 RealSense™ Vision Processor D4 Board Product Identifier and 
Material Code .......................................................................... 53 
8  Intel
®
 RealSense™ Depth Camera D400 Series ......................................... 53 

 
                        337029-008 
8.1  Depth Camera D400 Series Mechanical Dimensions ..................... 54 
8.2  Depth Camera D400 Series Thermals ......................................... 55 
8.3  Depth Camera D400 Series Product Identifier and Material Code ... 56 
8.4  Camera Lens Cleaning Procedure ............................................... 57 
Functional Specification .................................................................................... 58 
1  Vendor Identification (VID) and Device Identification (DID) ........................ 58 
2  Vision Processor D4 Data Streams .......................................................... 58 
3  Depth Field of View (FOV) ...................................................................... 60 
4  Depth Field of View at Distance (Z) ......................................................... 61 
5  Invalid Depth Band ............................................................................... 62 
6  Minimum-Z Depth ................................................................................. 63 
7  Depth Quality Specification .................................................................... 63 
8  Depth Start Point (Ground Zero Reference) .............................................. 64 
8.1  Depth Origin X-Y Coordinates .................................................... 67 
9  Depth Camera Functions ........................................................................ 68 
10  Color Camera Functions ......................................................................... 69 
11  IMU Specifications ................................................................................. 70 
Firmware ........................................................................................................ 71 
1  Update ................................................................................................ 71 
1.1  Update Limits .......................................................................... 71 
2  Recovery ............................................................................................. 71 
Software ......................................................................................................... 72 
1  Intel
®
 RealSense™ Software Development Kit 2.0 ..................................... 72 
System Integration .......................................................................................... 73 
1  System Level Block Diagram .................................................................. 73 
2  Vision Processor D4 System Integration ................................................... 73 
2.1  Vision Processor D4 Board ........................................................ 73 
2.2  Vision Processor D4 on Motherboard .......................................... 74 
3  D4 Camera System Power Delivery ......................................................... 75 
4  Vision Processor D4 Board for Integrated Peripheral .................................. 76 
4.1  USB 3.1 Gen 1 Receptacle ........................................................ 76 
4.2  USB 3.1 Gen 1 High Speed Cable Assembly ................................ 76 
4.3  Transmit to Receive Crossover .................................................. 77 
4.4  Motherboard Receptacle ........................................................... 78 
4.5  Vision Processor D4 Board for Integrated Peripheral Power 
Requirements .......................................................................... 78 
5  Thermals ............................................................................................. 78 
6  Stereo Depth Module Flex ...................................................................... 80 
7  Stereo Depth Module Mounting Guidance ................................................. 80 
7.1  Screw Mount ........................................................................... 80 
7.2  Bracket Mount ......................................................................... 81 
7.3  Stereo Depth Module Air gap ..................................................... 82 
8  Thermal Interface Material ..................................................................... 83 
9  Heat Sink ............................................................................................. 83 
10  Cover Design and Material Guidance ....................................................... 83 
11  Gaskets ............................................................................................... 84 
11.1  Optical Isolation ...................................................................... 85 
11.2  Dust Protection ....................................................................... 86 
12  Firmware Recovery ............................................................................... 86 

Description and Features 
 
 
337029-008                     5 
7.13  Calibration Support ............................................................................... 87 
7.14  Multi-Camera Hardware Sync ................................................................. 87 
7.15  Handling Conditions .............................................................................. 88 
8  Platform Design Guidelines ............................................................................... 89 
8.1  Vision Processor D4 on Motherboard ....................................................... 89 
8.2  Kaby Lake U and Kaby Lake Y platforms .................................................. 90 
8.2.1  Kaby Lake Platform Introduction ................................................ 90 
8.2.2  Supported PCB Stack-Up and Routing Geometries ....................... 90 
8.2.3  Vision Processor D4 on Motherboard with USB Host Interface ........ 91 
8.2.4  Vision Processor D4 on Motherboard with MIPI Host Interface ....... 92 
8.2.5  Vision Processor D4 Board for Integrated Peripheral (USB 3.1 Gen 1 
Host to Vision Processor D4 Routing) ......................................... 94 
8.2.6  USB2.0 Design Guidelines (USB2 Host to Vision Processor D4 
Routing) ................................................................................. 95 
8.3  Cherry Trail T4 Platform ......................................................................... 96 
8.3.1  Cherry Trail T4 Platform Introduction ......................................... 96 
8.3.2  Vision Processor D4 Platform Design Guidelines ........................... 96 
9  Regulatory Compliance ..................................................................................... 97 
9.1  System Laser Compliance ...................................................................... 97 
9.1.1  Certification Statement............................................................. 97 
9.1.2  Explanatory Label .................................................................... 97 
9.1.3  Cautionary Statements ............................................................. 97 
9.1.4  Manufacturer’s Information ....................................................... 98 
9.1.5  US FDA Accession Number ........................................................ 98 
9.1.6  NRTL Statement ...................................................................... 98 
9.2  Ecology Compliance .............................................................................. 99 
9.2.1  China RoHS Declaration ............................................................ 99 
9.2.2  Waste Electrical and Electronic Equipment (WEEE) ...................... 100 
10  Mechanical Drawings ....................................................................................... 101 
11  Connector Drawings ........................................................................................ 109 
12  Appendix A – Vision Processor D4 on Motherboard Schematic Checklist ................. 111 
12.1  Power Delivery .................................................................................... 118 
13  Appendix B- Cover Material .............................................................................. 121 
 
Figures 
Figure 2-1. Active Infrared (IR) Stereo Vision Technology ......................................................... 16 
Figure 2-2. Depth Measurement (Z) versus Range (R) .............................................................. 16 
Figure 2-3. Vision Processor D4 Camera System Block Diagram ................................................ 17 
Figure 3-1. Vision Processor D4 Package Drawing .................................................................... 28 
Figure 3-2. Vision Processor D4 Ball-out ................................................................................. 29 
Figure 3-3. Vision Processor D4 Power Sequencing .................................................................. 33 
Figure 3-4. Stereo Depth Module (Intel
®
 RealSense™ Depth Module D410)................................. 35 
Figure 3-5. Stereo Depth Module (Intel
®
 RealSense™ Depth Module D430)................................. 35 
Figure 3-6. Stereo Depth Module Power Sequence ................................................................... 42 
Figure 3-7. Vision Processor D4 Board (USB Peripheral Type-C)................................................. 43 
Figure 3-8. Flex Interposer (Illustration) ................................................................................. 45 