# Design discussion for a tiny RGB-D recorder: comparing stereo, dToF, and iToF depth performance in hand-object scenes

- Source: Reddit r/robotics
- Published: 2026-10-20T09:13:38.000Z
- RoboHot: https://robohot.news/en/items/qxxa376zdymqym62ldsjr32oh
- Original: https://www.reddit.com/r/robotics/comments/1xanaoz/tiny_rgbd_recorder_comparing_stereo_dtof_and_itof/

## Summary

A Reddit user proposed designing a tiny RGB + depth recorder for hand-object manipulation demonstrations and compared single-frame model outputs from three depth approaches in the same synthetic scene (a chest-view grasp of a mug): a D405-class stereo camera, the TMF8829 dToF (48 × 32 zones), and a generic iToF (240 × 180).