Vicon Valkyrie User manual

REFERENCE GUIDE

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© Copyright 2023 Vicon Motion Systems Limited. All rights reserved.
Revision 2
Vicon Motion Systems Limited reserves the right to make changes to information or specifications in this document without
notice. Companies, names, and data used in examples are fictitious unless otherwise noted. No part of this publication may
be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic or mechanical, by
photocopying or recording, or otherwise without the prior written permission of Vicon Motion Systems Ltd.
Vicon® is a registered trademark of Oxford Metrics plc. Vicon Lock Lab™, Vicon Lock Studio™, Vicon Nexus™,
Vicon Shōgun™, Vicon Tracker™, Vicon Valkyrie™, Vicon Vantage™, Vicon Vero™, and Vicon Vue™ are trademarks of
Oxford Metrics plc.
VESA® is a registered trademark owned by VESA (www.vesa.org/about-vesa/). Other product and company names herein
may be the trademarks of their respective owners. For full and up-to-date copyright and trademark acknowledgements, visit
https://www.vicon.com/vicon/copyright-information.
Vicon Motion Systems is an Oxford Metrics plc company.
Email: [email protected] Web: http://www.vicon.com

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Contents
About this guide .......................................................................................................................... 4
Introducing Vicon Valkyrie systems.............................................................................................. 5
Vicon Valkyrie system components.......................................................................................... 6
Vicon Valkyrie cameras and connections ................................................................................... 13
Vicon Valkyrie cameras........................................................................................................... 14
Vicon Valkyrie system cables.................................................................................................. 43
Build a Vicon Valkyrie system..................................................................................................... 55
Set up a basic Vicon Valkyrie system ..................................................................................... 56
Extend a basic Valkyrie system .............................................................................................. 61
Set up a mixed Valkyrie system with Vantage or Vero cameras ............................................ 78
Vicon Valkyrie technical specifications....................................................................................... 83
VK26 camera specifications.................................................................................................... 84
VK16 camera specifications.................................................................................................... 90
VK8 camera specifications...................................................................................................... 96
Vicon Valkyrie cameras lens specifications........................................................................... 102
Vicon Valkyrie cameras strobe unit specifications ............................................................... 106
Vicon Valkyrie regulatory, safety and warranty information .................................................... 108
Vicon Valkyrie (VK26) Declaration of Conformity................................................................. 109
Vicon Valkyrie (VK16) Declaration of Conformity................................................................. 112
Radio and television interference ........................................................................................ 115
Environmental regulations (EU customers) .......................................................................... 116
Vicon ISO certification.......................................................................................................... 118
Vicon Valkyrie IP certification............................................................................................... 121
Vicon Valkyrie LED Product Classification............................................................................ 129
Safety information................................................................................................................ 130
Warranty information ........................................................................................................... 132
Further resources ..................................................................................................................... 133

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About this guide
This guide provides reference information and technical specifications for Vicon Valkyrie cameras.
Introducing Vicon Valkyrie systems, page 5 provides an introduction to Valkyrie systems and their
components.
Vicon Valkyrie cameras and connections, page 13 contains reference information about Valkyrie
cameras, including details such as the camera lens, connection and mounting points, descriptions
of the status lights and display, and cabling.
Build a Vicon Valkyrie system, page 55 describes the topology of a simple Valkyrie system, and how
to extend it to include more cameras, a Vicon Lock and supported FLIR cameras. Also covered is
how to include older Vicon cameras in a Valkyrie system.
Vicon Valkyrie technical specifications, page 83 contains detailed specifications for each of the
Valkyrie variants, the camera lens, and the strobe unit.
Vicon Valkyrie regulatory, safety and warranty information, page 108 is also included.

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Introducing Vicon Valkyrie systems
A Vicon Valkyrie system is a suite of networked Valkyrie motion capture cameras, hardware devices
such as Ethernet switches and Vicon Locks (for synchronization of third-party devices), and software
applications, which provide real-time and offline digital-optical motion capture data.
Valkyrie systems are flexible, expandable, and easy to integrate into your working environment. You
can combine Valkyrie motion capture cameras with other current Vicon camera ranges and supported
third-party devices (such as supported FLIR cameras, force plates, EMG, analog and digital HD- and
SD-compliant external video for genlocking and associated timecode sources) to create a system that
meets your application requirements. This modular approach enables you to expand your Vicon
Valkyrie system as needed.
Motion capture data from the Valkyrie cameras (VK26, VK16, and VK8) and the associated data from
third-party devices routed through an optional Vicon Lock unit, connects through a PoE++ (advanced
Power over Ethernet) switch to a host PC, which runs the required Vicon application software. Other
third-party devices, such as digital force plates, can connect directly to the host PC.
Valkyrie cameras can also be added to other current Vicon camera systems (Vantage, Vero and Viper).
More information:
For a list of the major components of Valkyrie systems, see Vicon Valkyrie system components, page
6.
For further details about all aspects of Valkyrie cameras, see ViconValkyrie cameras, page 14.
For illustrations of basic example Valkyrie systems, showing how you can include Vicon Valkyrie
cameras, appropriate switches, Vicon Locks, and supported FLIR cameras, see Build a Vicon
Valkyrie system, page 55.
For more information on including supported external devices in your Valkyrie system, see the
Vicon Systems Setup Guide and/or the Vicon Lock guides.
To find out about using your Vicon application software, select the links from the Help menu in the
software or view the relevant documentation on the Vicon documentation website1.
Important
A Valkyrie system runs on its own dedicated network, rather than being integrated into a
general communications network.
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Vicon Valkyrie system components
The major components of a Vicon Valkyrie motion capture system are:
Vicon Valkyrie motion capture cameras, page 9
Vicon Valkyrie switches, page 9, which provide the power source and connectivity
Vicon software, page 10 to control the cameras, analyze and present the data
Host PC, page 10 to run the software
A Valkyrie system also includes Valkyrie system cables, page 11 to connect the hardware devices, a
Vicon calibration device , page 11 (such as a Vicon Active Wand), and Vicon accessories (markers, tape,
etc).
You may also choose to include compatible FLIR cameras and/or other third-party devices such as
force plates and accelerometers, which require a current Vicon Lock unit, page 11.
In each Valkyrie system, one synchronization source, page 12 provides synchronization to the rest of the
system.
You can expand and upgrade your Vicon Valkyrie system as required. In addition to being compatible
with current Vicon camera ranges such as Vero and Viper, the Valkyrie system is also compatible with
Vantage cameras, so if you have an older system, you can build on your existing investment. (However,
if you add Valkyrie cameras to a system comprising MX T-Series cameras, the T-Series cameras will not
work.)
Note
Except where noted, references to Vicon Lock, Lock units, and Lock apply to all current
models of the Vicon Lock unit (at the time of publication, this includes Vicon Lock Studio
and Vicon Lock Lab).
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The following table identifies commonly used components of Vicon Valkyrie systems.
Component Description Further information
Vicon Valkyrie camera Vicon Valkyrie motion capture cameras, page 9
Vicon Vero camera Vicon Vero Quick Start Guide (PDF)
Vicon Viper camera Vicon Viper Quick Start Guide (PDF)
Vantage camera Vicon Vantage Quick Start Guide and the Vicon
Vantage Reference Guide (also available as a PDF)
Supported FLIR cameras Add supported FLIR cameras to a Vicon Valkyrie
system, page 67 and the documentation that
accompanied the latest release of your Vicon
application software.
Vicon system setup information2 on the Vicon
documentation website
Vicon-supplied PoE++ and
PoE+ switches (plugged into
mains socket)
Vicon switches, page 9
Vicon Lock unit (plugged into
Vicon switch)
Supported FLIR cameras require a Lock
Studio or Lock Lab.
VESA Stereo genlocking requires a Lock
Studio or Lock Lab.
Digital SDI genlock requires a Lock Studio.
Analog devices require a Lock Lab.
Vicon Lock (optional) for third-party devices, page 11

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Component Description Further information
Vicon-supplied SFP+ switch Often used in addition to PoE++ switches for systems
larger than eight Valkyrie cameras (see Extend a basic
Valkyrie system, page 61)
Vicon Valkyrie host PC (with
Vicon application software).
Vicon Valkyrie host PC, page 10
For the latest full spec, visit the PC specifications3
page on the Vicon website.
Vicon-supplied
cables
The types of cable may
include:
Shielded Cat 6
(minimum) RJ45
Ethernet cable
10 Gb SFP+ Direct
Attach Cable
Lock-to-Lock Link cable
Vicon Valkyrie system cables, page 11
SFP+ transceivers may also be included.

Vicon software download Vicon Valkyrie software, page 10
Vicon calibration device
(Active Wand)
Viconcalibration device in the Vicon Systems Setup
Guide
Motion capture accessories
(such as markers)
Accessories4 page on the Vicon website
Third-party devices
(optional)
Third-party devices, such as
accelerometers and force
plates
Vicon Lock (optional) for third-party devices, page 11
If your particular application requires a more complex configuration, contact Vicon Support5.

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Vicon Valkyrie motion capture cameras
Vicon offers a wide choice of motion capture cameras which feature multiple high-speed processors
that perform real-time image processing.
You can include the following cameras in your Valkyrie system:
Valkyrie VK26, with a resolution of up to 26.2 megapixels (5120 x 5120) and capture speed of 150
fps
Valkyrie VK16, with a resolution of up to 16.1 megapixels (5120 x 3152) and capture speed of 240
fps
Valkyrie VK8 , with a resolution of 8.0 megapixels ( 3712 x 2176 ) and capture speed of 500 fps
Currently supported FLIR cameras (for details, see the latest documentation for your Vicon
application software)
Current Vicon optical camera ranges (Vero, Viper and Vantage) cameras
For further details of Valkyrie cameras, see Vicon Valkyrie cameras, page 14 and Vicon Valkyrie
technical specifications, page 83.
Vicon Valkyrie switches
To benefit from the power and range of Vicon Valkyrie cameras, connect each Valkyrie camera to a
PoE++ port of a PoE++ switch.
Supported FLIR cameras can also be connected to a switch via a Vicon Lock. Note also that:
Each Valkyrie camera must connect to a port enabling it to draw 25.5 W when connected to PoE+
port (IEEE 802.3at-2009) or 35 W when connected to PoE++ port (IEEE 802.3bt-2018). To benefit
from the Valkyrie's power and range, ensure all the Valkyrie cameras are connected to higher spec
(PoE++) ports.
Lock units can either connect to the same type of PoE++ or PoE+ port as the Valkyrie cameras or to
a port of lesser standard conforming to IEEE 802.3 af (12.95W PoE) . This connectivity through
Vicon-supplied cables carries both Gigabit communications and power.
A PoE++ or SFP+ switch (known as the primary switch), which may be obtained from Vicon,
connects to the host PC running the Valkyrie software that enables you to capture and analyze your
data. Note that no power is required on this particular port of the switch.
For information on connecting older system components, see Set up a mixed Valkyrie system with
Vantage or Vero cameras, page 78.)
Important
Although Valkyrie cameras are IP65-rated, the other components of your Valkyrie system
(switches, Locks, other cameras, etc) may not be, so ensure that these components are not
exposed to unsuitable environmental conditions.
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The number and type of switches required depends on the number of cameras to be supported. For a
description of the types of switch that may be included in a Valkyrie system, see Switches in Valkyrie
systems, page 65.
For examples of how to connect Vicon switches, see Example Vicon Valkyrie systems, page 71.
Vicon Valkyrie host PC
The Vicon Valkyrie host PC runs the Vicon motion capture software that analyzes and presents the
data captured by the Valkyrie cameras.
Current Vicon computers contain dual 10-Gigabit Ethernet ports to enable the Valkyrie system to
communicate with the installed Vicon application software. Depending on your system and your PC
configuration, you can either route optical data (eg, from Valkyrie cameras) through one port and
video data (eg, from Vicon video cameras) through the other; or video data and optical data can be
delivered through a single port. The latter approach requires a Gigabit Ethernet PoE+ with a 10 GbE
uplink. For more information, see the Vicon Systems Setup Guide.
Any Vicon motion capture and analysis software to be used with a Vicon Valkyrie system is installed on
this Vicon Valkyrie host PC. For further details of this computer, visit the PC specifications6 page on
the Vicon website or see the Vicon Systems Setup Guide.
Remote PCs may be used for other Vicon software or supported third-party applications.
Vicon Valkyrie software
The use of Vicon Valkyrie is supported in the following versions (and later) of Vicon motion capture
software:
Evoke 1.6
Nexus 2.15
Shogun 1.9
Tracker 3.10 and Tracker 4.0
The motion capture software is installed on the host PC. For further details on the software, see the
Help menu in your Vicon application software and the documentation on docs.vicon.com7.
Vicon also provides a range of data visualization, analysis, and manipulation software (for details, see
the Software8 page on the Vicon website).

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Vicon Valkyrie cables
A combination of proprietary Vicon and commercially available cables is used to connect hardware
devices in a Vicon Valkyrie system.
For further information, see Vicon Valkyrie system cables, page 43.
Vicon calibration device
A Vicon proprietary calibration device is used to calibrate Vicon Valkyrie systems.
For further information, see the documentation for your Vicon Active Wand9 on the Vicon
documentation website.
Vicon Valkyrie accessories
Motion capture accessories for both traditional motion capture (such as retroreflective markers,
Micropore tape, etc) and LBVR systems are available.
For further information, see the Accessories10 page on the Vicon website.
ViconLock unit (optional) for third-party devices
With the addition of a Vicon Lock unit to your Vicon Valkyrie system, you can include the following
third-party devices:
Supported FLIR cameras
Analog peripheral devices, such as force plates, electromyography (EMG) equipment, and
accelerometers
Devices that require synchronization at a frequency that is related to the motion capture frame rate
and/or a device that needs to know when a capture occurs
Devices that need to start and stop the capture event, (Remote Start and Stop)
Analog Standard Definition (SD), High Definition (HD) and (with Vicon Lock Studio) 3G SDI
broadcast digital video devices to which the Vicon Valkyrie system must synchronize
Analog broadcast timecode devices for triggering capture and time-stamping captured data in
accordance with LTC and VITC standards
VESA Stereo devices to which the Vicon Valkyrie system must synchronize
Important
Although Valkyrie cameras are IP65-rated, the other components of your Valkyrie system
(switches, Locks, other cameras, etc) may not be, so ensure that these components are not
exposed to unsuitable environmental conditions.
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For more information on the role of Vicon Lock units in a Valkyrie system, see the relevant Lock quick
start guide and the Vicon Systems Setup Guide.
For more information on connecting third-party devices to a Valkyrie system, see Add a Vicon Lock to
a basic Valkyrie system, page 62.
For a list of currently tested and supported third-party devices, contact Vicon Support11 or your
nearest agent or distributor.
Vicon Valkyrie synchronization source
As shown in the following table, each Valkyrie system has one sync source device that provides
synchronization to the system. The sync source is established automatically during system booting.
If the system includes The sync source is
Vicon Lock (or Vicon Beacon) Vicon Lock (or Vicon Beacon)
No Lock or Beacon A camera
Two Lock units Lock unit with genlock source attached. If no genlock source is attached to
either Lock, one is automatically designated the sync source.
For more information on the role of a Vicon Lock unit in a Valkyrie system, see 'Add a Vicon Lock to a
basic Valkyrie system' in the Vicon Systems Setup Guide, or the relevant Vicon Lock guide12.

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Vicon Valkyrie cameras and connections
The following topics provide reference information about the cameras and cables that are included in
Vicon Valkyrie systems.
ViconValkyrie cameras, page 14
ViconValkyrie system cables, page 43
Note
Except where noted, references to Vicon Lock, Lock units, and Lock apply to all current
models of the Vicon Lock unit (at the time of publication, this includes Vicon Lock Studio
and Vicon Lock Lab).
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ViconValkyrie cameras
The following topics describe the role of Vicon Valkyrie cameras in a Valkyrie system, the available
types of cameras, their physical structure (including lenses, controls and connectors, and associated
strobe units) and explain their functional characteristics.
For more information, see:
ViconValkyrie cameras in a Valkyrie system, page 15
Vicon Valkyrie camera range, page 19
ViconValkyrie handling, connection and mounting points, page 22
ViconValkyrie camera strobe units, page 25
Vicon Valkyrie camera lens, page 27
Vicon Valkyrie status lights and TFT LCD display, page 37
For technical details of Vicon Valkyrie cameras, see Vicon Valkyrie technical specifications, page 83.
Caution
Vicon Valkyrie cameras contain no user-serviceable components. For all servicing, and any
alterations, you must return the camera to Vicon. Any attempt by you or any third party to
alter or repair a Valkyrie camera may invalidate its warranty.
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ViconValkyrie cameras in a Valkyrie system
Vicon Valkyrie cameras are purpose-designed motion capture cameras that use multiple high-speed
processors to perform real-time proprietary image-processing. When Vicon cameras are in their
normal motion capture mode, they output the movement of Vicon markers, rather than the subject to
which the markers are attached. (To use the cameras in Video Preview mode, which is useful when you
are setting up the cameras in the volume, see Vicon Valkyrie Video Preview mode, page 17). This is
achieved with the combination of high-powered, narrow-band strobed illumination, retroreflective or
active markers (which contain infrared active LEDs that are visible to the Vicon cameras), and a
corresponding filter that is tuned to the same wavelength as the strobe.
Vicon markers can be retroreflective spheres that reflect light from the camera strobe units back into
the Vicon motion capture cameras, or active markers, which contain infrared LEDs that are visible to
the Vicon cameras. The markers are attached to a subject or object whose motion is to be captured.
For information on the file types involved in Vicon motion capture and on how to position markers on
your subjects in accordance with these files, see your Vicon application software documentation.
You position the cameras around the capture volume to ensure full coverage of the subjects whose
motion you will be capturing. Data from at least two cameras is required to produce 3D
reconstructions of the Vicon markers, so ensure that the placement and orientation of all cameras
results in multiple cameras aimed at the same region of the capture volume, as shown in this image.
For help in visualizing your volume camera coverage, try the Vicon Visualization Tool13 on the Vicon
website.
Camera positions will depend on your volume size, camera type, and camera lens.
Depending on your capture requirements, you may choose to mount the cameras on tripods for floor-
based cameras or on a clamp and truss on speed rails for raised cameras.

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For more information, see also:
Vicon Valkyrie Video Preview mode, page 17
Vicon Valkyrie accelerometer, page 17
Vicon Valkyrie temperature sensors, page 18
Vicon Valkyrie camera performance, page 18
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Vicon Valkyrie Video Preview mode
To help with setting up the cameras in a volume for positioning, focus, and field of view, you can set
Valkyrie cameras, one at any one time, to Video Preview mode (for instructions, see the Vicon Valkyrie
Quick Start Guide or the documentation for your Vicon application software).
Video Preview mode outputs a lower resolution image of the whole scene at approximately 30 fps (the
exact rate is the closest multiple of the system frame period). It works best where there is good
ambient light.
When the system frame rate is greater than the maximum frame rate achievable at full resolution (see
Vicon Valkyrie technical specifications, page 83 for the maximum frame rate for each camera variant), to
enable you to see the same view as the camera in optical mode, the camera uses windowing to
display the image. For this reason, we recommend that, while setting up your Valkyrie system, you
reduce the system frame rate below the maximum. When you have finished setting up the system,
increase the frame rate to its required setting.
Vicon Valkyrie accelerometer
Each camera is fitted with an accelerometer which has several purposes:
Before the system is calibrated, you can tap the camera to alert the Vicon application software that
you are setting up that particular camera. The software then responds accordingly.
After the system has been calibrated, if the camera is accidentally knocked or bumped, an alert is
sent to the Vicon application software so that you can take the appropriate action. You can change
how hard the camera has to be knocked to cause it to report a bump by altering the Bump
Detection Sensitivity or Bump Sensitivity control in the Vicon application software.
The accelerometer also determines the orientation of the images in the Valkyrie display on the front
of the camera.
Note the following limitations of bump detection:
Bump detection is active only on calibrated cameras.
Bump detection cannot detect movement that does not change the gravity vector, for example.
slow translation with no rotation.
Bump detection cannot detect movements that occur when the camera is not connected to a live
system.
The camera is detected as bumped when the reading from the accelerometer is sufficiently
different from the last reading. Gradual changes (for example, a slipping camera mount) may not
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Vicon Valkyrie temperature sensors
Electronic temperature sensors in the camera body and strobe relay information back to the Vicon
application software. This lets the user of the software know when the system has stabilized and that
the system is ready for calibrating. If a problem occurs due to overheating, which is caused by too
high an ambient temperature, the Vicon application software can inform the user of a potential
problem.
You can change the required temperature range in the Vicon application software.
Vicon Valkyrie camera performance
Vicon Valkyrie cameras evaluate an entire image in grayscale, rather than applying a black and white
threshold. This provides more information and increases motion measurement accuracy over an
equivalent resolution black and white camera. The Vicon Valkyrie cameras perform the majority of data
processing. They generate grayscale blobs from the retro-reflective markers in the capture volume
and then use centroid-fitting algorithms to determine their accurate centers, or collate the whole
grayscale data if the markers are deemed to be merged. This camera data is sent to the Vicon
application software for further processing and viewing. For details, see your Vicon software
documentation.
A number of factors affect the overall performance of your Valkyrie system. These include camera
resolution, number of cameras, capture rate, and number of markers/subjects captured. All of these
factors impact the overall data rate of your system and may affect the specification required for your
Vicon Valkyrie host PC. Understanding the expected data rate can also help to inform you whether a
standard single Gigabit Ethernet connection is sufficient or whether a configuration that involves link
aggregation may be preferable.
You can specify the required frame rate in your Vicon application software on the Vicon Valkyrie host
PC. Your Vicon application software remembers this setting and re-applies it on power up or from
reset. You can also configure the buffering of camera data at the time of capture. For details, see your
Vicon software documentation.
For a comparison of the performance of the models in the Vicon Valkyrie range of cameras, see Vicon
Valkyrie camera performance comparison, page 21.
Caution
To avoid overheating, ensure that the environment in which the cameras are used is well-
ventilated.
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Vicon Valkyrie camera range
Vicon Valkyrie systems can include any of the Valkyrie range of proprietary Vicon motion capture
cameras: VK26, VK16, and VK8, as well as other current Vicon cameras.
The camera hardware design consists of a camera body, a strobe head unit, a lens, optical filter, and
cable, as shown in the following image.

For more information, see:
Vicon Valkyrie camera resolutions, page 20
Vicon Valkyrie camera performance comparison, page 21

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Vicon Valkyrie Reference Guide
20 Jul 2023, Revision 2
Vicon Valkyrie camera resolutions
A single hardware design is built with different types of sensors and a proprietary Vicon varifocal (9.4–
18.8 mm) lens to create a range of cameras with different resolutions, as shown in the following table.
Camera Resolution
VK26 26.2 Megapixels
VK16 16.1 Megapixels
VK8 8.0 Megapixels
All Valkyrie cameras are fitted with sensitive solid-state sensors and are purpose-built to provide high-
speed, low-latency motion capture. Vicon applies stringent checks to its cameras for linearity,
sensitivity, and absence of jitter.
You can combine the various models of Vicon Valkyrie cameras within a single Valkyrie system to meet
your application requirements for resolution and/or coverage. The VK26 camera offers the highest
resolution of the Vicon Valkyrie cameras and the VK16 and VK8 cameras can provide higher camera
counts within a fixed budget, giving increased coverage.
Caution
Vicon Valkyrie cameras contain no user-serviceable components. For all servicing, and any
alterations, you must return the camera to Vicon. Any attempt by you or any third party to
alter or repair a Valkyrie camera may invalidate its warranty.
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