1.6 AgiBot X2 Sensor Overview

1.6.1 Sensor Capabilities & FOV Diagram

Version	Sensor Suite	Perception Capabilities
X2 Ultra Edition	LiDAR RGB-D Depth Camera Front Stereo RGB Camera Front Interaction RGB Camera Rear RGB Camera	LiDAR: a. Captures high-precision environmental data in real time; b. Rapidly detects and measures surrounding objects; c. Outputs high-resolution point clouds as a core input for environmental perception. In addition to the chest-mounted LiDAR, multiple camera types are included for richer perception, including: a. Depth camera: assists in acquiring 3D spatial information of objects; b. Stereo camera: improves 3D perception and distance estimation accuracy; c. Rear camera: covers the rear field of view to reduce perception blind spots; d. Interaction camera: supports visual recognition and response for human-robot interaction scenarios.

Manufacturer	Model	Wavelength	Horizontal FOV	Vertical FOV
RoboSense	E1R	940 nm	120° (-60.0° to +60.0°) ±1%	90° (-45° to +45°)

Manufacturer	Model	Laser Wavelength	Resolution	Frame Rate	Depth FOV	Color FOV
Orbbec	Gemini335	850nm	Depth: up to 1280 × 800 Color: up to 1920 × 1080	Up to 60fps	90° × 65° ± 3° @ 2m (1280 × 800)	94° × 68° ± 3° @ 2m

Manufacturer	Model	Resolution	Frame Rate	Horizontal FOV	Vertical FOV
SenYun	SDS23NNS1	Up to 2064H × 1552V	Up to 40fps	156°	120°

Manufacturer	Model	Resolution	Frame Rate	Horizontal FOV	Vertical FOV
SenYun	SM5M12NJ	Up to 2608 × 1960	Up to 30 fps	110°	80°

Manufacturer	Model	Resolution	Frame Rate	Horizontal FOV	Vertical FOV
SenYun	SM3S23NS	Up to 2064H × 1552V	Up to 30fps	156°	120°

Manufacturer	Model	Sampling Rate	Single click	Double click	Triple click	Short press	Long press	Slide
Awinic (Shanghai)	AW93208GQNR	Up to 250 kHz	✓	✓	✓	✓	✓	✓

Installation Location	Manufacturer	Model	Type	Rate
One each at the chest and hip	FORSENSE	FSS-IMU16460-DM	6DoF MEMS IMU	Configurable up to 1kHz