Intel RealSense Depth Camera D435i combines the depth sensing capabilities of the D435 with the addition of an inertial measurement unit (IMU). For great scans, an IMU provides an extra set of data allowing for better dense reconstruction. Alternately, in robotics, the Robotic Operating System (ROS) takes this input for your robot so your can understand its position in the world. The Intel RealSense D435i includes: A BMI055 inertial measurement unit. The Intel RealSense SDK 2.0 which provides a depth and IMU data stream. IMU Data that is time stamped to align with depth data as needed. Desktop tripod. USB-C* cable.

Adding an IMU allows your application to refine its depth awareness in any situation where the camera moves. This opens the door for rudimentary SLAM and tracking applications allowing better point-cloud alignment. It also allows improved environmental awareness for robotics and drones. The use of an IMU makes registration and calibration easier for handheld scanning system use cases and is also important in fields such as virtual/augmented reality and drones. When using the D435i, our Intel RealSense SDK 2.0 provides IMU data that is time stamped to align with our high quality depth data.

The Intel RealSense D435i includes:

A BMI055 inertial measurement unit
The Intel RealSense SDK 2.0 which provides a depth and IMU data stream
IMU Data that is time stamped to align with depth data as needed
Desktop tripod
USB-C* cable

Inertial measurement unit	BMI055
Use Environment	Indoor/Outdoor
Depth Technology	Active IR stereo
Main Intel® RealSense™ component	- Intel® RealSense™ Vision Processor D4
Main Intel® RealSense™ component	- Intel® RealSense™ module D430
Depth Field of View (FOV)	87°±3° x 58°±1° x 95°±3°
(Horizontal × Vertical × Diagonal)	87°±3° x 58°±1° x 95°±3°
Depth Stream Output Resolution	Up to 1280 x 720
Depth Stream Output Frame Rate	Up to 90 fps
Minimum Depth Distance (Min-Z)	0.1 m
Sensor Shutter Type	Global Shutter
Maximum Range	Approx. 10 meters; Varies depending on calibration, scene, and lighting condition
RGB Sensor Resolution and Frame Rate	1920 x 1080 at 30 fps
RGB Sensor FOV	69.4° x 42.5° x 77° (+/- 3°)
(Horizontal x Vertical x Diagonal)	69.4° x 42.5° x 77° (+/- 3°)
Camera Dimension	90 mm x 25 mm x 25 mm
(Length x Depth x Height)	90 mm x 25 mm x 25 mm
Connectors	USB-C* 3.1 Gen 1
Mounting Mechanism	- One 1/4-20 UNC thread mounting point
Mounting Mechanism	- Two M3 thread mounting points