search

HKUST-Aerial-Robotics / VINS-Mono

A Robust and Versatile Monocular Visual-Inertial State Estimator
GNU General Public License v3.0
5.06k stars 2.1k forks source link

Realsense Support #166

Open shakith opened 6 years ago

shakith commented 6 years ago

Hi,

I see that real sense is supported by VINS-mono. Which model is that?

Where does the performance of the real sense fit in the following scale?

(global shutter camera + synchronized high-end IMU, e.g. VI-Sensor) > (global shutter camera + synchronized low-end IMU) > (global camera + unsync high frequency IMU) > (global camera + unsync low frequency IMU) > (rolling camera + unsync low frequency IMU).

Thanks,

NikolausDemmel commented 6 years ago

I don't know about VINS-Mono, but AFAIK, the realsense (ZR300) could be classified as "global shutter camera + synchronized low-end IMU", if you use the fisheye tracking camera. Though I'm not sure how good the time synchronization is.

jian-li commented 6 years ago

RealSense ZR300 can get good perfomace on VINS-Mono, the realsense are hardware synchronized. The driver maplab-realsense, shared by ethz-asl, considered the timestamp registration. Here is my result, you can read my blog here for details to get it work. https://blog.csdn.net/q1370992706/article/details/79950542 20180415163719226

ealdaz commented 6 years ago

jian-li could you resend your link? It seems broken and I'm very interested in your results, thanks

jian-li commented 6 years ago

If you copy the link on the browser, it should be ok. If it is still failed, maybe you should use a proxy.

ealdaz commented 6 years ago

Copying the link worked, clicking on it doesn't, thanks !