D435i with ORB SLAM2 (RGBD)
Hello, I wanted to know if anyone has used the D435i with Orb Slam 2, and how the resulting maps were. In the stereo mode, I get good results, but in the RGBD mode, with RGB + aligned depth to colour, the output map is noisy and inaccurate.
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Hi Rakshith Madhavan Yes, D435i has been used successfully in the past with ORB-SLAM2. The two links below should be useful starting points for researcing the subject.
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MartyX Grover how accurate are the camera intrinsic parameters values stored for the RGB camera? Does it need to be recalibrated?
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RealSense cameras are calibrated in the factory and are well calibrated already when purchased. There are circumstances where a camera may become mis-calibrated and should undergo recalibration though. This could include physical shocks such as a hard knock or drop on the floor, or severe vibration. Being exposed to high temperature could also cause mis-calibration.
The RGB sensor of a RealSense 400 Series camera can be calibrated with the Dynamic Calibration tool if that particular 400 Series model has an RGB sensor (which the D435 does).
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