> ## Documentation Index
> Fetch the complete documentation index at: https://innateinc-theo-docs-skills-authoring-api.mintlify.site/llms.txt
> Use this file to discover all available pages before exploring further.

# Stereo Depth Calibration

MARS now has stereo depth vision for navigation and obstacle avoidance. Since cameras can vary slightly from unit to unit, each robot must be calibrated.

<Frame caption="How MARS auto-calibrates stereo depth">
  <iframe width="100%" height="420" src="https://www.youtube.com/embed/V-20kHm7PHw" title="Self-calibrating depth camera" frameBorder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" allowFullScreen />
</Frame>

If depth calibration is missing (or removed), navigation automatically falls back to non-depth mode. This can help if you suspect depth calibration is hurting navigation quality.

Run this calibration:

* After your first setup.

* After major OS updates that include depth changes.

* Any time depth readings look wrong or unstable.

***

## 1) Prepare the calibration board

Download and print the official board:

* [Download calibration board (PDF)](https://github.com/innate-inc/web-docs/blob/main/.gitbook/assets/mars-calibration-board.pdf)

<Frame caption="Print this board at 100% scale.">
  <img src="https://mintcdn.com/innateinc-theo-docs-skills-authoring-api/9WIspYq4LkbGVthE/images/main/robots/mars/mars-stereo-calibration-board.png?fit=max&auto=format&n=9WIspYq4LkbGVthE&q=85&s=232a25957d0b9070443f713092da899a" width="525" height="406" data-path="images/main/robots/mars/mars-stereo-calibration-board.png" />
</Frame>

Important setup notes:

* Print at **100% scale** (no "fit to page" scaling).

* Cut a letter-sized piece of cardboard.

* Stick the printed board flat on the cardboard.

* Do not cover any checker squares or markers.

* The outside edges do not need to be perfect; the board being flat is what matters.

***

## 2) Start calibration from the app

<Steps>
  <Step title="Open the Innate Controller App">
    Make sure your phone is connected to the same robot session.
  </Step>

  <Step title="Go to Configuration -> Depth and tap Start calibration">
    Use the **Configuration** tab, open **Depth**, then start calibration.

    <div className="calibration-app-screens">
      <Frame caption="Depth screen">
        <img src="https://mintcdn.com/innateinc-theo-docs-skills-authoring-api/9WIspYq4LkbGVthE/images/main/robots/mars/depth-calibration-start-screen.png?fit=max&auto=format&n=9WIspYq4LkbGVthE&q=85&s=8b305521558098b65f2a3278536eb9d3" width="960" height="2142" data-path="images/main/robots/mars/depth-calibration-start-screen.png" />
      </Frame>

      <Frame caption="Before You Start screen">
        <img src="https://mintcdn.com/innateinc-theo-docs-skills-authoring-api/9WIspYq4LkbGVthE/images/main/robots/mars/depth-calibration-before-start-screen.png?fit=max&auto=format&n=9WIspYq4LkbGVthE&q=85&s=1d90976e9de2dfe448c7b63045bd4550" width="960" height="2142" data-path="images/main/robots/mars/depth-calibration-before-start-screen.png" />
      </Frame>
    </div>
  </Step>

  <Step title="Place the board when MARS raises its hand">
    Place the board in front of the hand with the calibration pattern facing the robot's head, then hold it steady until MARS grabs it.
  </Step>
</Steps>

***

## 3) Let calibration finish

* Keep clear while MARS runs the calibration sequence.

* Wait for the app to report completion.

* If calibration fails, repeat the process with better board flatness and stability.

After completion, run **Configuration -> Depth -> Check depth** to validate readings before normal navigation.