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introlab / rtabmap_ros

RTAB-Map's ROS package.
http://wiki.ros.org/rtabmap_ros
BSD 3-Clause "New" or "Revised" License
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Odometry issue with two d435i #620

Open aditdoshi333 opened 3 years ago

aditdoshi333 commented 3 years ago

Hello,

Thanks for the response. I tried the following launch file for two d435i

Launch file: two_rs.txt

But there is an issue with odometry lost. It is very frequent with two realsense devices then one. Any light on the same? Any issue with the launch file?

matlabbe commented 3 years ago

The problems with odometry using multiple cameras are the (often) bad synchronization between the cameras, the TF between the cameras is not accurate enough and that it is not the same algorithm used for pose estimation. With single camera, the 2D->3D cv::solvePnPRansac approach is used (which can use far features with bad depth estimation in the estimation), while with multiple cameras the 3D->3D estimation is done, which only work correctly when depth estimation is accurate on the features extracted from images. The odometry may then be more accurate with single camera, but less robust to featureless surfaces as the field-of-view is smaller.

I would suggest to test the D435i in IR mode (disable the IR emitter and subscribe to left IR + depth in RGB-D mode, or left+right IR in stereo mode) for odometry, as the IR cameras have a lot less motion blur and better FOV than the RGB camera (also removing the sync problem between RGB and depth cameras).