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T265 position drifting away

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3 comments

  • MartyG

    The T265's sensors are pre-calibrated in the factory and it does not require any user re-calibration.  As the T265 uses its own SLAM system for navigation and not GPS satellite, global location should not affect it, only the local geography that it is travelling on

    If you are experiencing drift from a static position, you could try defining a 'localization map' to provide the T265 with start-up information about its local environment by creating local coordinate systems to reduce error around specific points of interests  This mode only operates in idle mode.

    https://github.com/IntelRealSense/librealsense/pull/3324 

    There is also useful information in the link below about reducing drift whilst the camera is in motion:

    https://github.com/IntelRealSense/librealsense/issues/3970 

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  • Pavel Petrovic

    Many thanks for a fast response. It turned out that it is a USB 3.0 Windows 10 drivers issue or something of the sort on my notebook.

    I have tested it again today, and noticed that the drift starts at the moment that the camera frames stop arriving as can be seen in the 2D view in the viewer.

    Few seconds after the start, both images freeze and soon a red sign shows frames are not coming. I wonder if that was because of too much power intake that my notebook could not deliver, or my USB3 port has just been used too much in the past.

    After playing with XHCI USB setting in the BIOS, I cannot get my USB3 working again, but in USB2.1 mode, the devices work, the images are shown, and there is no drift. For some reason, they stopped moving in the whole scene, maybe that is not available in USB2.1 mode, but we have just tested it on a different PC with USB3 and everything works fine and that drift is not there. Good news! Thanks again.

     

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  • MartyG

    I'm very glad you found some answers!

    The official T265 documentation page says about USB 3: "Any board with USB2 capable of receiving pose data at 200 times a second should be sufficient.  The device was validated on Intel NUC platform. To access the fisheye streams, USB3 is required".

    https://github.com/IntelRealSense/librealsense/blob/master/doc/t265.md#what-are-the-system-requirements 

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