1.6 AgiBot X2 Sensor Overview

1.6.1 Sensor Capabilities & FOV Diagram

Version	Sensor Suite	Perception Capabilities
X2 Ultra	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.
X2 Ultra(new version)	LiDAR RGB-D Depth Camera Front Stereo RGB Camera Front Interaction RGB Camera Rear RGB Camera	The sensing configuration is identical to that of the X2 Ultra; refer to the capabilities described above.
X2 EDU	N/A	The X2 EDU is not equipped with any perception sensors (no LiDAR, no cameras, no touch sensor, no GNSS).

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1.6.2 Sensor Specifications

LiDAR

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

RGB-D Camera

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

Front Stereo RGB Camera

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

Front Interaction RGB Camera

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

Rear RGB Camera

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

Note

Some Rear Cameras are Rotated

Due to mold adjustments, the installation orientation of some rear monocular cameras has been rotated by 90 degrees. Apply image rotation compensation if needed. The examples already detect this automatically and apply the compensation - see the C++ example and the Python example.

Touch Sensor

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

Standalone Inertial Sensor (IMU)

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

GNSS Module

Supported Satellite Systems	Output Frame Rate	Included Information	Positioning Accuracy
GPS, BeiDou, GLONASS, Galileo	1Hz	Latitude, Longitude, Altitude	~2.5m outdoors