RyanLee Hi, I checked about stereo depth performance on rvc3. And i have a question about it. do you have the test result you mentioned in your document? Series 3 OAK devices feature CNN-based calculation of pixel descriptors, compared to census transform that’s being used in previous OAK series. We plan on doing depth accuracy benchmark tests on static images and comparing S3 and older series of OAK in August of 2022. [https://docs.luxonis.com/projects/hardware/en/latest/pages/articles/oak-s3.html#enhanced-stereo-depth-on-rvc3](https://) Best regards, Ryan.