The Global Robotic Vision Market size is expected to reach $3.8 billion by 2028, rising at a market growth of 9.3% CAGR during the forecast period.
Robot vision refers to a robot's ability to visually detect its surroundings and use that knowledge to perform various tasks. For robot navigation and obstacle avoidance, visual input has been widely used. In recent years, there have also been examples of communicating with humans and item manipulation. Specialists examine some of the work that has gone beyond using artificial landmarks and calibration markers to create vision-based control in robots in this study. It goes over many application areas from a systems perspective as well as specific difficulties like object tracking and recognition.
For scholars and professionals working in the domains of machine vision, image processing, and pattern recognition, Vision in Robotics is an ideal and up-to-date resource. Its comprehensive bibliography is a significant resource for the current study.
Robots are blind technologies that operate as per their programming without robotic vision. They strictly adhere to the coding that defines their functions, making them suitable for repetitive activities that are physically demanding and difficult for humans. Now that Industry 4.0 has here, robots are evolving as well. It is expected to allow companies to stay up with the fourth industrial revolution's demands and tendencies. The development of a robot vision system for collaborative robots is important to the advancement of robotics. Machine or robot vision is a major component of this progress, allowing clever automated operations to achieve new levels of precision and accuracy.
COVID-19 has had a significant impact on all industries and the global economy. Lockdowns have been ordered around the world to stop its spread. In the early stages of the pandemic, the complete lockdown severely disrupted the livelihoods and quality of life of many people around the world. Therefore, supply chains have been disrupted throughout the world. A significant drop in product demand has negatively affected the world's economies. A lack of basic materials has resulted from the pandemic, mainly due to a drop-in exports and supply chain disruptions.
Industrial quality control is an important procedure, and increasing it may usually help a company minimize waste and increase efficiency. Extending quality control is frequently a labor-intensive and difficult-to-automate operation. While adding additional quality checks to a manufacturing process is normally desired, allocating labor to these checks is not always feasible. Human workers make mistakes as well, particularly when the labor is monotonous or repetitive. Some sorts of visual inspection, such as ensuring that each bottle in the manufacturing line is filled to a given point, might be extremely difficult for a human operator to repeat with accuracy over and over again.
Some vision systems are built right into robot arms, while others require direct attachment to a robot wrist or arm to function properly. The systems that can be put outside, apart from robot are the perfect choices, to increase the number of possible deployment scenarios. A well-placed externally mounted camera, for example, might be used to check on the state of the equipment affecting food goods, allowing to time cleaning procedures more precisely. External mounting not only avoids the problem of wires running alongside the robot, but also enhances cycle time. The robot can work on something else while the vision system captures and processes images.
Considering the current industrial progress, integrating robot arms with robotic vision is a difficult task. If the end client does not have sufficient engineering expertise, professional system integrator assistance is expected to be required. Precision and cycle time is expected to be given top priority while evaluating the viability of automation needs. The predicted production cycle can be used to evaluate production capacity and compute the return on investment, and sufficient precision can ensure the correctness of each step (ROI). Whenever a target is positioned using vision, many factors influence accuracy rate, including picture quality, placement algorithm, hand-eye relationship correction errors, camera lens correction errors, arm repeating precision, absolute accuracy, and so on, which can only be effectively evaluated by experienced robot vision technicians.
Based on Component, the market is segmented into Hardware and Software. The Hardware segment acquired the largest revenue share in the robotics vision market in 2021. It is due to the number of components in a robotics vision system, including lighting, lenses, image sensors, vision processing, and communication. Using lighting, the camera is able to see clearly the features of the part being examined. A robotics vision camera's sensor converts light into a digital photo, which is then sent to a processor. The sensor captures light from the lens and delivers it to the sensor.
Based on Application, the market is segmented into Material Handling, Packaging & Palletizing, Assembling & Disassembling, Painting, Cutting, Pressing, Grinding, & Deburring, Welding & Soldering, and Measurement, Inspection, & Testing. The Packaging & Palletizing segment recorded a substantial revenue share in the robotics vision market in 2021. It is due to the process of loading an object, such as a corrugated box, in a predetermined arrangement onto a pallet or similar equipment. Depalletizing is the process of unloading a loaded object in the opposite direction. Many industries and businesses now use some sort of palletizing robot technology to automate their operations. Robotic palletizing technology boosts productivity and profits while allowing for greater product flexibility and longer run times.
Based on Industry, the market is segmented into Electrical & Electronics, Metals & Machinery, Precision Engineering & Optics, Automotive, Pharmaceuticals & Cosmetics, Food & Beverages, Chemical, Rubber, & Plastic, and Others. The Electrical & Electronics system procured the highest segment revenue share in the robotics vision market in 2021. Through non-tactile sensing, vision is utilized to find electronic components and perform testing and inspection. Electronic gadgets are tracked by robot controllers as they go through the production line." In electronics and semiconductor work cells, tool changers help robots multitask better.
Based on Type, the market is segmented into 2D Vision Systems and 3D Vision Systems. The 3D vision system segment registered a substantial revenue share in the robotics vision market in 2021. It is due to the pick and place applications utilization of 3D robotic vision. Even though the position and location of the parts vary, 3D vision allows a robot to determine the direction of a part that has to be handled more effectively. Part assembly and inspection are another prominent use of 3D vision in robotics. A 3D vision system can precisely direct a robotic arm during assembly, and a robotic arm can provide a 3D camera with numerous viewing angles for important assembly inspection.
Based on Deployment, the market is segmented into Robotic Guidance Systems and Robotic Cells. The Robotic Guidance Systems segment acquired the highest revenue share in the robotics vision market in 2021. It is due to the employing 3D vision systems developed for object detection and recognition is a critical component of industrial production process optimization. SICK's robot guiding systems make it simple and affordable for users to make use of this advanced technology. The systems are distinguished by their dependable and user-friendly design. They can easily be integrated into current surroundings, give high-precision measurement findings, and so play an important role in making part management more adaptable than ever before.
Based on Regions, the market is segmented into North America, Europe, Asia Pacific, and Latin America, Middle East & Africa. The Asia pacific region dominates the largest revenue share in the robotics vision market in 2021. China will have the highest share of the APAC smart robotics market by 2020. The production value of service robots in Shenzhen climbed by 21.79 percent year on year to almost USD 5.06 billion in 2018, according to the 2018 white paper on Shenzhen's Robot Industrial Development. For the first time, China's government designated service robots as a significant area for development in its 12th Five-Year Plan, which was released in 2011. A robot named Youxiaomei served attendees with water and tea during the 7th China Information Technology Expo in 2019. China is the world's largest automobile manufacturer, according to the International Organization of Motor Vehicle Manufacturers (OICA), with Japan importing the most vehicles. As a result, industrial robots are in high demand.
The major strategies followed by the market participants are Product Launches. Based on the Analysis presented in the Cardinal matrix; FANUC Corporation and Keyence Corporation are the forerunners in the Robotic Vision Market. Companies such as Cognex Corporation, Omron Corporation and Hexagon AB are some of the key innovators in the Market.
The market research report covers the analysis of key stake holders of the market. Key companies profiled in the report include Cognex Corporation, ISRA Vision AG, Basler AG, Omron Corporation, National Instruments Corporation, Teledyne Technologies, Inc. (Teledyne DALSA), Keyence Corporation, FANUC Corporation, Hexagon AB, and Sick AG.
Robot vision refers to a robot's ability to visually detect its surroundings and use that knowledge to perform various tasks. For robot navigation and obstacle avoidance, visual input has been widely used. In recent years, there have also been examples of communicating with humans and item manipulation. Specialists examine some of the work that has gone beyond using artificial landmarks and calibration markers to create vision-based control in robots in this study. It goes over many application areas from a systems perspective as well as specific difficulties like object tracking and recognition.
For scholars and professionals working in the domains of machine vision, image processing, and pattern recognition, Vision in Robotics is an ideal and up-to-date resource. Its comprehensive bibliography is a significant resource for the current study.
Robots are blind technologies that operate as per their programming without robotic vision. They strictly adhere to the coding that defines their functions, making them suitable for repetitive activities that are physically demanding and difficult for humans. Now that Industry 4.0 has here, robots are evolving as well. It is expected to allow companies to stay up with the fourth industrial revolution's demands and tendencies. The development of a robot vision system for collaborative robots is important to the advancement of robotics. Machine or robot vision is a major component of this progress, allowing clever automated operations to achieve new levels of precision and accuracy.
COVID-19 Impact Analysis
COVID-19 has had a significant impact on all industries and the global economy. Lockdowns have been ordered around the world to stop its spread. In the early stages of the pandemic, the complete lockdown severely disrupted the livelihoods and quality of life of many people around the world. Therefore, supply chains have been disrupted throughout the world. A significant drop in product demand has negatively affected the world's economies. A lack of basic materials has resulted from the pandemic, mainly due to a drop-in exports and supply chain disruptions.
Market Growth Factors:
Robotics Vision Enhances Automation and Quality Management
Industrial quality control is an important procedure, and increasing it may usually help a company minimize waste and increase efficiency. Extending quality control is frequently a labor-intensive and difficult-to-automate operation. While adding additional quality checks to a manufacturing process is normally desired, allocating labor to these checks is not always feasible. Human workers make mistakes as well, particularly when the labor is monotonous or repetitive. Some sorts of visual inspection, such as ensuring that each bottle in the manufacturing line is filled to a given point, might be extremely difficult for a human operator to repeat with accuracy over and over again.
Accessibility and versatility of the robotics visions
Some vision systems are built right into robot arms, while others require direct attachment to a robot wrist or arm to function properly. The systems that can be put outside, apart from robot are the perfect choices, to increase the number of possible deployment scenarios. A well-placed externally mounted camera, for example, might be used to check on the state of the equipment affecting food goods, allowing to time cleaning procedures more precisely. External mounting not only avoids the problem of wires running alongside the robot, but also enhances cycle time. The robot can work on something else while the vision system captures and processes images.
Marketing Restraining Factor:
Robot Vision Connectivity Difficulties and Initial Cost
Considering the current industrial progress, integrating robot arms with robotic vision is a difficult task. If the end client does not have sufficient engineering expertise, professional system integrator assistance is expected to be required. Precision and cycle time is expected to be given top priority while evaluating the viability of automation needs. The predicted production cycle can be used to evaluate production capacity and compute the return on investment, and sufficient precision can ensure the correctness of each step (ROI). Whenever a target is positioned using vision, many factors influence accuracy rate, including picture quality, placement algorithm, hand-eye relationship correction errors, camera lens correction errors, arm repeating precision, absolute accuracy, and so on, which can only be effectively evaluated by experienced robot vision technicians.
Component Outlook
Based on Component, the market is segmented into Hardware and Software. The Hardware segment acquired the largest revenue share in the robotics vision market in 2021. It is due to the number of components in a robotics vision system, including lighting, lenses, image sensors, vision processing, and communication. Using lighting, the camera is able to see clearly the features of the part being examined. A robotics vision camera's sensor converts light into a digital photo, which is then sent to a processor. The sensor captures light from the lens and delivers it to the sensor.
Application Outlook
Based on Application, the market is segmented into Material Handling, Packaging & Palletizing, Assembling & Disassembling, Painting, Cutting, Pressing, Grinding, & Deburring, Welding & Soldering, and Measurement, Inspection, & Testing. The Packaging & Palletizing segment recorded a substantial revenue share in the robotics vision market in 2021. It is due to the process of loading an object, such as a corrugated box, in a predetermined arrangement onto a pallet or similar equipment. Depalletizing is the process of unloading a loaded object in the opposite direction. Many industries and businesses now use some sort of palletizing robot technology to automate their operations. Robotic palletizing technology boosts productivity and profits while allowing for greater product flexibility and longer run times.
Industry Outlook
Based on Industry, the market is segmented into Electrical & Electronics, Metals & Machinery, Precision Engineering & Optics, Automotive, Pharmaceuticals & Cosmetics, Food & Beverages, Chemical, Rubber, & Plastic, and Others. The Electrical & Electronics system procured the highest segment revenue share in the robotics vision market in 2021. Through non-tactile sensing, vision is utilized to find electronic components and perform testing and inspection. Electronic gadgets are tracked by robot controllers as they go through the production line." In electronics and semiconductor work cells, tool changers help robots multitask better.
Type Outlook
Based on Type, the market is segmented into 2D Vision Systems and 3D Vision Systems. The 3D vision system segment registered a substantial revenue share in the robotics vision market in 2021. It is due to the pick and place applications utilization of 3D robotic vision. Even though the position and location of the parts vary, 3D vision allows a robot to determine the direction of a part that has to be handled more effectively. Part assembly and inspection are another prominent use of 3D vision in robotics. A 3D vision system can precisely direct a robotic arm during assembly, and a robotic arm can provide a 3D camera with numerous viewing angles for important assembly inspection.
Deployment Outlook
Based on Deployment, the market is segmented into Robotic Guidance Systems and Robotic Cells. The Robotic Guidance Systems segment acquired the highest revenue share in the robotics vision market in 2021. It is due to the employing 3D vision systems developed for object detection and recognition is a critical component of industrial production process optimization. SICK's robot guiding systems make it simple and affordable for users to make use of this advanced technology. The systems are distinguished by their dependable and user-friendly design. They can easily be integrated into current surroundings, give high-precision measurement findings, and so play an important role in making part management more adaptable than ever before.
Regional Outlook
Based on Regions, the market is segmented into North America, Europe, Asia Pacific, and Latin America, Middle East & Africa. The Asia pacific region dominates the largest revenue share in the robotics vision market in 2021. China will have the highest share of the APAC smart robotics market by 2020. The production value of service robots in Shenzhen climbed by 21.79 percent year on year to almost USD 5.06 billion in 2018, according to the 2018 white paper on Shenzhen's Robot Industrial Development. For the first time, China's government designated service robots as a significant area for development in its 12th Five-Year Plan, which was released in 2011. A robot named Youxiaomei served attendees with water and tea during the 7th China Information Technology Expo in 2019. China is the world's largest automobile manufacturer, according to the International Organization of Motor Vehicle Manufacturers (OICA), with Japan importing the most vehicles. As a result, industrial robots are in high demand.
The major strategies followed by the market participants are Product Launches. Based on the Analysis presented in the Cardinal matrix; FANUC Corporation and Keyence Corporation are the forerunners in the Robotic Vision Market. Companies such as Cognex Corporation, Omron Corporation and Hexagon AB are some of the key innovators in the Market.
The market research report covers the analysis of key stake holders of the market. Key companies profiled in the report include Cognex Corporation, ISRA Vision AG, Basler AG, Omron Corporation, National Instruments Corporation, Teledyne Technologies, Inc. (Teledyne DALSA), Keyence Corporation, FANUC Corporation, Hexagon AB, and Sick AG.
» Partnerships, Collaborations and Agreements:
- Jun-2021: Sick AG formed a partnership with Vention, a next-generation manufacturing automation platform. Under this partnership, the companies aimed to integrate SICK’s PLB and PLOC2D systems within Vention’s production automation medium to boost the design and deployment of applications customized for robot advice systems. Additionally, the partnership is expected to provide benefits to consumers searching for modular robotic solutions along with Vention’s AI-enabled and cloud-based medium, consumers is expected to be capable to design, order, and create custom tools to enhance manufacturing procedures.
- May-2021: Hexagon AB came into a partnership with Plex Systems, the superior in cloud-delivered smart manufacturing solutions. This partnership is expected to allow Hexagon's Manufacturing Intelligence unit and Plex to co-sell Plex MES to Hexagon production consumers, allowing them to take management of the plant floor through full clarity and connectivity and discover the promise of Industry 4.0.
- Mar-2021: Teledyne e2v, a subsidiary of Teledyne Technologies company joined hands with Yumain, a dominant AI vision solution supplier providing a wide range of industrial applications. Through this collaboration, the companies aimed to integrate Teledyne image sensor abilities associated with custom AI expertise is expected to enable Teledyne to create AI-based concept solutions which is expected to be easily available to industrial consumers and convey advantages to their applications.
- Dec-2020: FANUC came into a partnership with Plus One Robotics, a team with advanced robotics and software engineering at its core. Through this partnerships, Plus One joined the certified System Integrator network as a System Solution Consultant, and Plus One technology is a great addition to reinforce robotics. Additionally, the companies aimed to integrate strengths with other enterprises in the logistics, warehouse segments, and e-commerce.
- Oct-2020: SICK came into a partnership with Microsoft, the largest vendor of computer software in the world. Through this partnership, the companies aimed to improve the Visionary-T camera product line from SICK with Azure Intelligent Cloud and Intelligent Edge abilities. Additionally, a partnership with Microsoft is expected to boost execution and more cost-effective for consumers.
- Sep-2020: Basler came into a partnership with Axiomtek, one of the world's leading designers and manufacturers of industrial computer products. Together the companies aimed to provide combined, all-in-one machine sight solutions for industry and machine automation. Additionally, Axiomtek and Basler assist producers and system integrators in rapidly establishing quality examination applications to make industrial procedures more productive and competitive.
» Acquisitions and Mergers:
- Aug-2021: The Hexagon AB came into an agreement to acquire Wuhan Zhongguan Automation Technology. This acquisition aimed to enhance Hexagon's capabilities in the field of 3D data acquisition and further expand Hexagon’s solution portfolio in the field of intelligent manufacturing. Through this acquisition, Zhongguan is expected to combine with Hexagon Manufacturing Intelligence Unit.
» Product Launches and Product Expansions:
- May-2022: Teledyne introduced a Sapera Vision Software Edition 2022-05 to its prevailing Astrocyte and Sapera Processing packages. The new Sapera Vision Software Edition 2022-05 allows the consumer to notice the smallest flaws in big pictures at indigenous resolution. Moreover, the recent update has added enhanced abnormality detection algorithms, live video purchase from frame grabbers, and new features that offer improved performance and an adequate consumer experience.
- May-2022: FANUC launched DR-3iB/6 STAINLESS Delta Robot, the first stainless steel food-grade delta robot for gathering and wrapping primary food products. The DR-3iB/6 STAINLESS Delta Robot meets USDA and FDA food safety standards and establishes a new standard for robotic food operation such as cargo, reach, pace, and sanitation. Additionally, the robot features a completely encompassed stainless steel body that is immune to the chemicals and high pressure & temperatures needed in tough wash-down circumstances.
- Mar-2022: Cognex Corporation unveiled DataMan 280 series, permanent-mount barcode readers. The DataMan 280 presents a high-resolution sensor integrated with a powerful image creation system to enhance code coverage and administration. Additionally, DataMan 280 together with connectivity feature Industry 4.0 production requirements, enables the consumer to interpret tough barcodes accurately while enhancing entire equipment effectiveness and bandwidth.
- Mar-2022: Keyence expanded its portfolio of precision measurement technologies with the launch of LM Series, a new, high-accuracy image dimension measurement system. This series can be programmed with on-screen assistance available, and it is expected to be managed with just one button.
- Oct-2021: Omron unveiled the VT-S10 series, the first PCB inspection system that uses innovative, multi-dire, and advanced AI. The VT-S10 series 3D AOI system as well as dominating quick speed 3D CT AXI abilities, assist enhance the entire capacity of the production process, accomplishing zero-fault products, and realizing considerable labor conservations. Additionally, imaging techniques and AI to best automatize the high-accuracy review method for electronic groups, maximize implementation and undervalue skill-level needs.
- Sep-2021: SICK introduced Ruler3000, the latest expansion of 3D streaming cameras. The Ruler3000 evoke the real 3D form of an object, despite its distinction or color, as well as simultaneously grasping greyscale and spread light proportions, so image processing and measurement accuracy can be advance. Additionally, the Ruler3000 can process up to 15.4Gp/s to allow up to 7,000 full-frame 3D shapes per second.
- Apr-2021: SICK unveiled its first vision camera with a pre-installed Deep Learning app onboard. This camera aimed to make it easy to develop custom quality inspections of complicated or irregular-shaped goods, packaging and assemblies. With the implementation of the Intelligent Inspection App onto SICK’s Inspector P621 deep learning camera, SICK is expected to enable users to buy ready-made package, which utilizes artificial intelligence to operate complex vision inspections with ease.
- Mar-2021: Omron Corporation launched the FH-SMD Series 3D Vision Sensor, tiny and light sufficiently to be installed on a robot arm. The FH-SMD Series 3D Vision Sensor can be moved to change perspectives and efficiently identify parts, lowering blind areas and providing trustworthy identification. Moreover, the sensor permits part detection in roughly 0.4 seconds irrespective of the condition and area.
- Jan-2021: Cognex Corporation launched In-Sight 3D-L4000, an embedded vision system. The new In-Sight 3D-L4000 enables consumers to position vision tools immediately on a 3D image of the part, it provides better precision contrast to authentic systems, amplifying the range of analysis that can be executed. Additionally, In-Sight 3D-L4000 appear in three factories graded area of view and is dominant for applications around a variety of companies such as consumer products, food and beverage, wrapping, medical equipment, automotive, and electronics.
- Jan-2021: Omron Corporation introduced the i4 series SCARA robot. The robot allows consumers to construct positively effective tools by combining and managing the end effector and peripheral machines at a high pace and with increased accuracy with a "Robotic Integrated Controller. Additionally, The i4 series SCARA robot features high precision, ease of integration, flexibility and high uptime.
- Nov-2020: Hexagon introduced OPTIV Lite 3.2.2, entry-level multisensor coordinate measuring machine. The OPTIV Lite 3.2.2 delivers high precision, pace, and smart technology ability to entry-level optical CMMs. Additionally, CMM permits producers to keep up with the rapid growing smart factory and make potentially cost-saving procedure advancements, all while guaranteeing dependable and convenient examination results.
- Oct-2020: Omron Automation Americas, a subsidiary of Omron Corporation introduced Robotic Integrated Controller, which first completely synchronizes automation technology. Robotic Integrated Controller allows developing automation technology by eliminating manual work and easing the production ecosystem. In addition, the solution is expected to streamline developed and complicated manual work that is expected to require to be achieved by human employees
- Jun-2020: FANUC Corporation introduced 3DV/1600 vision sensor, a new vision sensor for robotic warehousing applications. The new sensor offers fast click 3D images over a Z field of 2 meters, with a max area of view of 2700mm square, which is perfect for container picking or line following large parts. Additionally, The 3DV/1600 is part of Fanuc’s iRVision portfolio of completely combined and wide machine vision products for robot advice and examination.
Scope of the Study
Market Segments Covered in the Report:
By Component
- Hardware
- Software
By Application
- Material Handling
- Packaging & Palletizing
- Assembling & Disassembling
- Painting, Cutting, Pressing, Grinding, & Deburring
- Welding & Soldering
- Measurement, Inspection, & Testing
By Industry
- Electrical & Electronics
- Metals & Machinery
- Precision Engineering & Optics
- Automotive
- Pharmaceuticals & Cosmetics
- Food & Beverages
- Chemical, Rubber, & Plastic
- Others
By Type
- 2D Vision Systems
- 3D Vision Systems
By Deployment
- Robotic Guidance Systems
- Robotic Cells
By Geography
- North America
- US
- Canada
- Mexico
- Rest of North America
- Europe
- Germany
- UK
- France
- Russia
- Spain
- Italy
- Rest of Europe
- Asia Pacific
- China
- Japan
- India
- South Korea
- Singapore
- Malaysia
- Rest of Asia Pacific
- LAMEA
- Brazil
- Argentina
- UAE
- Saudi Arabia
- South Africa
- Nigeria
- Rest of LAMEA
Key Market Players
List of Companies Profiled in the Report:
- Cognex Corporation
- ISRA Vision AG
- Basler AG
- Omron Corporation
- National Instruments Corporation
- Teledyne Technologies, Inc. (Teledyne DALSA)
- Keyence Corporation
- FANUC Corporation
- Hexagon AB
- Sick AG
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Table of Contents
Chapter 1. Market Scope & Methodology
Chapter 2. Market Overview
Chapter 3. Competition Analysis - Global
Chapter 4. Global Robotic Vision Market by Component
Chapter 5. Global Robotic Vision Market by Application
Chapter 6. Global Robotic Vision Market by Industry
Chapter 7. Global Robotic Vision Market by Type
Chapter 8. Global Robotic Vision Market by Deployment
Chapter 9. Global Robotic Vision Market by Region
Chapter 10. Company Profiles
Companies Mentioned
- Cognex Corporation
- ISRA Vision AG
- Basler AG
- Omron Corporation
- National Instruments Corporation
- Teledyne Technologies, Inc. (Teledyne DALSA)
- Keyence Corporation
- FANUC Corporation
- Hexagon AB
- Sick AG
Methodology
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Table Information
Report Attribute | Details |
---|---|
No. of Pages | 354 |
Published | May 2022 |
Forecast Period | 2021 - 2028 |
Estimated Market Value ( USD | $ 2087 Million |
Forecasted Market Value ( USD | $ 3817 Million |
Compound Annual Growth Rate | 9.2% |
Regions Covered | Global |
No. of Companies Mentioned | 10 |