The Bumblebee2 stereo vision camera system by Point Grey Research, Inc provides the forward-facing cameras. These are color cameras with global shutter and fixed focal length, wide-angle lenses. The system communicates via an IEEE-1394b (FireWire S800) connector. It is capable of providing stereo images which are used for computing depth images. The downward-facing camera is a USB 2.0 Firefly MV color camera with a CMOS image sensor and global shutter by Point Grey Research, Inc. It uses a fixed focal length Fujinon lens.