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haritheja-e / robot-utility-models

Robot Utility Models are trained on a diverse set of environments and objects, and then can be deployed in novel environments with novel objects without any further data or training.
https://robotutilitymodels.com
MIT License
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D405 6D pose #2

Closed HM102 closed 2 months ago

HM102 commented 2 months ago

How do you collect 6D pose from the d405 camera without using SLAM?

Also you mentioned that using iPhone you get rid of the SLAM pipeline used in other papers. How the does iPhone gets the 6D pose, doesn't use internally some kind of visual inertial system as well?

Thank you.

notmahi commented 2 months ago

Hi @HM102! We only collect 6D pose from the iPhone Pro, and not from the D405.

The iPhone Pro offers the ARKit API, which in their own words "combines device motion tracking, world tracking, (and) scene understanding". Because it is fusing a lot more sensors, it is a lot more robust than just using visual SLAM.