D435i SLAM recommendation

March 15, 2023 05:10

Hi - I am new to RealSense and have basic coding experience. I want to get a robot to handle objects in it's environment. I can detect objects in Unity (with Vuforia) with D435i. However, I am not sure how to proceed on SLAM. I am not so concerned about mapping accuracy as I am concerned about integration (like with Unity, Vuforia, BetaFlight, etc.). I want a very basic pointcloud so my slow robot doesn't run into stuff. I saw these older posts:

https://support.intelrealsense.com/hc/en-us/community/posts/360044011973-Making-a-3D-map-with-the-d435i-slam-?input_string=D435i%20SLAM%20recommendations

https://support.intelrealsense.com/hc/en-us/community/posts/360038549493-Highlighting-the-OpenVSLAM-open-source-Visual-SLAM-platform?input_string=D435i%20SLAM%20platform%20recommendation

What would be the best SLAM path for easy robotic integration? I'm open to move away from Unity if there's a better platform for SLAM. Any help would be appreciated!

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7 comments

Brianwesleystout

March 15, 2023 05:18
By integratable, I mean I would like to include detected objects (simply) on the pointcloud/worldmap and enable the robot to make decisions based on the pointcloud in very rough realtime.
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Brianwesleystout

March 15, 2023 05:35
In short, is there a quick and dirty path for D435i SLAM?
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MartyG

March 15, 2023 09:10

Edited
If you are able to make use of ROS2 in your Unity project then Unity have an official example SLAM robotics project (though it is not specifically for RealSense cameras).

https://github.com/Unity-Technologies/Robotics-Nav2-SLAM-Example

https://resources.unity.com/automotive-transportation-manufacturing-content/unity-robotics-slam

Alternatively, outside of Unity you could try a D435i-supported project for ORB-SLAM2

https://github.com/NERanger/ORB-SLAM2-with-D435i

ORB-SLAM2 is compatible with D435 / D435i.

There is a Unity plugin for ORB-SLAM2 but it is very old now and may not work with modern Unity versions.

https://github.com/VisionerTech/ORB_SLAM2_Unity
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Brianwesleystout

March 15, 2023 16:14
I'll take a look. Thanks!
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Brianwesleystout

March 16, 2023 18:06
Thanks again for the links! I reviewed them and had some follow up thoughts. Do you have integration recommendations for using the IMU to enhance SLAM?
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MartyG

March 17, 2023 12:00
Instead of seeking to enhance SLAM with the IMU, a good next step to take would be to try to use depth sensing for obstacle avoidance so that the IMU can be used for navigation and the obstacle avoidance algorithm can steer the robot away from detected obstacles in its path.
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Brianwesleystout

March 17, 2023 13:22
Oh - that makes sense. I’ll check that out. Thanks!
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