On the data of self-location estimation by T265
I am currently using a T265 to perform self-location estimation.
I have a question regarding the data obtained at this time.
Normally, the x-axis represents left and right, the y-axis represents up and down, and the z-axis represents forward and backward, with a negative value on the z-axis meaning forward and a positive value meaning backward. In fact, most of the data I obtained had a negative value on the z-axis when moving forward. However, there were times when, despite the same environment, only a few times did I get a positive value when moving forward. I am trying to determine what the cause of this is, but have not yet been able to do so. I would like to know the possible causes of this problem.
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Hi Keikun6313,
Thanks for reaching out to us.
When T265 tracking starts, an origin coordinate system is created and RealSense SDK provides T265 poses relative to it.
World's Y axis is always aligned with gravity and points to the sky. World's X and Z axes are not globally set, but determined when tracking starts based on the initial orientation of the T265 device with the initial -Z world axis as the projection of the camera axis to the ground plane.
This does mean that the initial yaw can seem random when the device is started in a downward facing configuration, say on the drone. All T265 (and librealsense) coordinate systems are right-handed.
For more information, please refer to https://github.com/IntelRealSense/librealsense/blob/v2.53.1/doc/t265.md
Regards,
Wan
Intel Customer Support
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