Software for 3D Stereo Vision


Scorpion Vision XII

3D Stereo Vision is the extraction of 3D information from digital images, such as

obtained by a Scorpion 3D Stinger Camera. By comparing information about a scene from two vantage points, 3D information can be extracted by examination of the relative positions of objects in the two panels.

The Scorpion Vision Software tool # 97 – Locate3D calculates the 3D position x,y,z of two corresponding points from two 3D Calibrated Images. The accuracy using 3D Stereo Vision is down to 0.001 mm with Scorpion Vision Software.

Image Rectification – Image rectification is supported by tool component STC-0084 StereoRectify3D. This transforms two 3D Calibrated images into two stereo rectified images where all epipolar lines are parallel to the horizontal axis and the corresponding points have identical vertical coordinates.

2D Image Calibration is performed by the Scorpion tool # 15- Calibrator.


The Scorpion Calibrator tool ensures sub-pixel accuracy down to 1/20th of a pixel. The foundation for the most accurate Scorpion 3D Stinger for Robot Vision systems.


System Resolution is 0.07 mm with a pixelresolution of 0.8 mm

Active Stereo Vision signified that energy in the form of light is projected into the scene.

The Scorpion 3D Stinger Camera is an industrial stereo vision camera in an IP-64 enclosure. The camera is supporting passive and active stereo vision. The camera is supplied with POE or 24 volt and an ethernet connection. Active stereo vision is supported by the means of integrated white or IR high power leds, structured illumination with different pattern based on red or IR lasers.


Scorpion 2D and 3D Stinger Cameras in Aluminium Industry

The Scorpion Stinger SMARTcard strobes the laser and the LED illumination. This is important to meet the Laser Safety requirements for machine vision system. Strobing also improves the ambient light protection and the Signal to Noise ratio of the projected pattern. The SMARTcard also serve as trigger interface to encoder on a conevyor.

Structured Illumination – the Scorpion 3D Stinger Camera supports multiple projection patterns to solve the following challenges:  create features on featureless surfaces, solve the basic feature correspondence problem. The following patterns are supported: Single Line, Multiple Lines and RPP – Random Projection Pattern.

Standard High Quality GigE Cameras from Sony and Basler is used as the main image sensors in the Scorpion 3D Stinger Camera. Resolution from VGA to 5MP is supported with monochrome or color CMOS or CCD sensors optimized for price, speed or image quality.

30 mm and 200 mm Baseline – the Scorpion 3D Stinger Camera is manufactured in two different baseline models. The 200 mm baseline version is designed for Robot Vision and Gauging applications. The typical 3D FOV is a Euro Pallet – W = 800 x H = 1200 mm x D = 500 mm. The 2.3 MPixel model has a 2D x,y resolution better than 0.1 mm and a typical depth resolution 0.3 mm with a good 3D Calibration optimized by One Push Calibration.

One Push 3D Calibration is a concept for automatic fast, accurate and reproducable multiple 3D camera calibration using one single image and a Scorpion Stinger 3D Calibration object.


The automated One Push Calibration provides an optical 3D resolution of 0.04 mm – 1/20th of 0.8 mm which is the 2D pixelresolution. This provide a depth resolution with a 200 mm baseline camera at 1455 mm distance of  Zres = 0.04 * 1455 / 200 = 0.29 mm – the 2D resolution is wellk below 0.1 mm

3D Point Cloud – A 3D image or 3D point cloud is an ordered or unordered sequence of 3 points.


Dense 3D Point Cloud generated by Scorpion 3D Stinger for Robot Vision – typically resolution 1mm in all three dimensions x,y,z

Sparse 3D Image Creation – Scorpion Vision can accumulate single, multiple 3D feature points into a 3D Point cloud. The 3D images are often used to locate an object plane with tool 121 – PlaneFit3D.

Single Line Projection is normally used for Laser Triangulation. Scorpion 3D Stinger Cameras for standard Laser Triangulation are available. The Scorpion tool # 166 – LaserProfiler3D provides an easy means to create point clouds from a sequence of images with a single line laser projection.

Multiple Line Projection – a laser with a multiple line projector is used to project structured light on an object or on a plane. The projected lines can be located in 3D with the advanced tool component STC-0064-LocatePaths3D. The sparse 3D from multiple 3D points generators is moved into a 3D Image for further processing.

RPP – Random Pattern Projection – a laser with a random pattern projector is used to project random texture onto an images. The disparity of the projected pattern is ideal for BlockMatching.


Intrared RPP Image captured by Scorpion 3D Stinger Camera – the blend images combines RPP texture with the natural texture – ideal solution for objects moving on a conveyor

Dense 3D Image Creation – Scorpion Vision Software supports different means of Dense 3D Image Creation. 3D scanning using 3D Laser Triangulation with a Scorpion 3D Stinger Camera and a Single Line Laser is a basic and proven method when the object or the camera is moving. The tool component STC-0083 DisparityMap3D produces a dense 3D image within a 3D FOV from two stereo rectified images. The method can be used with passive and active stereo vision. A RPP – Random Pattern Projection laser will guarantee features on a featureless surface and improve the applicability of block matching. The STC supports multiple Block Matcher to handle different block matching scenarios.


Our favourite concept image – IR LED Image1 – IR RPP Image 1 – blends to an accurate 3D Model – The rectified HeightMap is ideal for 3D pattern location with TemplateFinder3 with 4DOF

Scorpion 3D Stinger for Robot Vision 2.0 is a product developed and distributed by Tordivel AS.

Hot News – Scorpion 3D Venom Camera

The global shutter Scorpion 3D Venom Camera is designed to be used in cutting-edge
short range 3D Stereo Vision applications. It is a new importtant member of the Scorpion Stinger hardware family.


Read more in the preliminary datasheet

The camera combines 2D color and monocrome images with 3D data and 3D images to make a unique blend for advanced machine vision.

Creates dense 3D point clouds – can see where there is no contrast.

To be used for 3D Robot Vision, 3D Assembly Verification and 3D Measurement.
Main target applications are ID Tracking, Object Tracking, Height Measurement, Object Counting and more.

Fast feature location and 3D image generation will support fast tracking framerates from 5 to 15 fps. Global shutter 3D Camera locates moving objects in real-time – ideal for optical tracking and position servos.

Scorpion Vision Software is a registered trademark of Tordivel AS. Scorpion 3D Stinger and Scorpion 3D Venom are trademarks of Tordivel AS

Scorpion Vision XII build 640 is here!

We are proud to announce that the first official release of Scorpion Vision Software XII is here. This is a significant step ahead in our continous effort to provide “Excellence in 3D Stereo Vision” and the best OEM machine vision package.  The version  is faster, more powerful, easier to use and even more accurate. We have better support for our own Scorpion Stinger hardware.

Link to download Scorpion Vision XII – build 640


Tordivel Docs – New Scorpion Camera Driver Documentation Site


New Scorpion Camera Drivers Documentation

Video : Thor Vollset – Tordivel presents 3D Stereo Vision and Vision Guided Robots

After its positive première in 2014, the inspect application forum followed up with a successful and increasingly international event on the Vision in Stuttgart this year. Altogether, more than 350 visitors to the fair, half of them from abroad, took the opportunity to attend the diverse 30-minute talks and gain detailed insights into the current application and development possibilities in machine vision.


Check the video at Inspect

3D Stereo Vision and Vision Guided Robots

Under the motto “Vison 4.0 – Smart Vision for Smart Factories,” innovative systems and solutions were presented from the fields of Best Practice, 3D Inspection, Automotive, Robotics, Virtual Reality, Food & Beverage and Embedded Vision.


Video – Global Shutter 3D Stereo Vision Camera

The Scorpion 3D Stinger Camera is designed for Robot Vision.

Global Shutter ensures real-time 3D images on a conveyor.

Working distance from 500 to 5000 mm with 1 mm depth resolution.

Video – Scorpion 3D Stinger for Robot Vision 2.0

Scorpion 3D Stinger for Robot Vision 2.0 is a complete package for 3D Robot Vision.

Scorpion Vision Software XII combined with the finest industrial 3D Stereo Vision Cameras.



This video focus on 3D sack depallatizing.