I don't get it. The tracker was used separately (additionally) to provide IMU data to the visual odometry. But this presentation is of 28th May 2019. Why didn't he use D435i that has a built-in IMU ? Shouldn't that provide both IMU and Visual Odometry together as a single unit?
Adding the T265 provides VIO based odometry topic to the system making tracking much more accurate than just IMU that is prone to drift as shown on the first video
the tracker outputs the visual odometry using it's onboard asic to compute whereas the d435i outputs the imu data that would then need to but fed into an algorithm running on the host device CPU or GPU
Can I use these products for commercial applications? Can I make a robot with an Intel T265 and Jetson Nano and just sell it? Or will that require licenses and stuff?
@@TheRockeyAllen you need to know the regulations for the field where you are deploying your robotics solution. You need to look for ISO standards and such regulatory documents. If you are selling a surgical robot to a hospital then you need to follow medical standards. If you are selling a drone to consumers then you need to follow aviation regulations, etc.
Hi I have some questens. How did you make the Sensorsystem? Which hardware did you use, can I bild it with a Jetson Nano and a Akkupack? Is there a German Person to talk?
A T265 overview is here, basically a paper version of this talk, with links to the T265 ROS node source code: dev.intelrealsense.com/docs/intel-realsensetm-visual-slam-and-the-t265-tracking-camera SLAM with D435i setup guide for ROS: github.com/IntelRealSense/realsense-ros/wiki/SLAM-with-D435i RTAB-Map (underlying SLAM library) source code: github.com/introlab/rtabmap This also needs the Point Cloud Library: github.com/PointCloudLibrary/pcl
I tried this with my Realsense d435i on a jetson nano. It lost track easily, i even move it slowly with my hand. Anyone have suggestion to fix the problem?
@@Frankx520it got better after i set the parameter recommended here wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping Dont use the launch file included on realsense sample folder, read RTabMap wiki and github so you can tune it better. Goodluck~
Closest would be the HTC Vive Ultimate -> Calibrate -> Run it in STEAM VR in Headless Mode -> Use OpenXR package in Python, installed via pip, to read the pose
