I have been testing the tracking accuracy of T265 indoors as well as outdoors over different surfaces. Test is done by logging the pose data on a handheld tablet while walking around a loop. Error is calculated based on the distance between the start and end point of the loop. For outdoor tests, I also log cm level accurate GNSS positions, so I can check for scale errors as well (Loop closure error doesn't necessarily mean a good scale). Indoor loop was about 90m long and outdoor test about 150m.
Indoor accuracy was about 0.8% which is within the 1% stated accuracy of the module. However I am getting about 2.5% loop closure accuracy and -8% scale error in outdoor test walking over asphalt surface in an open-sky parking lot and really bad over grass in a park (25% error for loop closure and and a massive -38% scale).
I have seen this post (https://github.com/IntelRealSense/librealsense/issues/3970) but it looks like it mainly refers to indoors and their performance hasn't been good either (sometime 5%). I am more interested in outdoors environment with user holding a device with T265 attached to it and walking.
Has anyone tried outdoors and if so what sort of drift are you getting?
Please sign in to leave a comment.