D435i VINS FUSION at high speeds
Has anyone tested the D435i outdoors performance with Visual Odometry algorithms like VINS FUSION ? The MyntEye camera works well up to a speed of 30mph. I am interested to know if the D435i performs better than the MyntEye at higher speeds.
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Hi Akshaya Dayal The D435 models deal well with high vehicle speed thanks to the fast global shutter on the depth imager. Below are a couple of YouTube videos demonstrating their ability to capture oncoming vehicles and environmental detail whilst mounted to a car travelling at speed.
https://www.youtube.com/watch?v=OwJmCyAn3JQ
https://www.youtube.com/watch?v=l9MZwRSNmWU
I am not aware of such tests having been performed with Visual Odometry on roads at high speed though. A T265 paired with a D435 may be a better approach to odometry, as the T265 has a dedicated internal Movidius Myriad 2 VPU processor to handle its IMU data, whereas the D435i processes the IMU data on a computer's processor. More information about this is provided in the guide in the link below:
https://www.intelrealsense.com/how-to-getting-imu-data-from-d435i-and-t265/
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Thanks for your response Marty. Are you suggesting the depth+tracking bundle (https://store.intelrealsense.com/buy-intel-realsense-depth-and-tracking-bundle.html?_ga=2.45859620.1647158340.1598942293-2081968832.1598444804)
What would be the advantage of pairing the T265 with the D435 to calculate visual odometry ? Are you suggesting computing visual odometry using both the cameras and then fusing them ? Also, the T265 has additional support for wheel odometry which can be useful I think.
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The Depth + Tracking bundle in the RealSense Store certainly is a valid way to get a D435 and T265 together in the same bundle. The T265 has the same IMU component inside it that the D435i does, so the T265 provides the IMU in the pairing of it and the IMU-less D435 model.
The T265 can provide high quality tracking data and SLAM navigation, whilst the D435 part of the pairing can provide functions such as obstacle avoidance that the T265 cannot (as the T265 does not have built-in depth sensing). This can be observed in Intel's seminar video that demonstrates the pairing of these cameras.
https://www.youtube.com/watch?v=62vm0_RZ1nU
The T265 also has built-in support for providing 6 Degrees of Freedom (6-DOF) "pose" tracking data, whilst the D435i lacks this ability even though it has the same IMU because it does not have the T265's Movidius chip to fuse the data.
Please post further questions about D435-T265 pairing at the RealSense GitHub forum by visiting the link below and clicking on the New Issue button. That is the forum where T265 questions are handled. Thanks!
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