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Localization Underwater via the T265


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  • MartyG

    The T265 has a wide field of view of approximately 163 degrees from the combination of its two fisheye sensors.  This helps it to see as many visual landmarks as possible.  The T265 uses landmarks, patterns and visual cues for its navigation.

    Whilst you can have one T265 and multiple depth cameras, there is more limitation when using multiple T265s (though it is possible to have multiple T265s in separate processing threads, as described in the link below). 

    This link discusses the possible use of T265 underwater: 

    The 400 Series stereo depth cameras can operate very well underwater.  If you wanted the advantages of depth sensing and the good performance of the stereo algorithm underwater then using four D435i may work better for you than four T265.  With the D435i's IMU component with acceleration and gyro sensors (the same IMU component used in the T265), you would be able to generate point clouds and also use the IMU for SLAM navigation.

    This link describes the use of the D435i for SLAM with the ROS robotics language to generate a map from points.  Whilst the T265 provides very high quality tracking data, the D435i is excellent for SLAM navigation and robot localization in its own right. 

    Here is an example in the Python language for using a RealSense 400 Series camera underwater (in a sealed container) or to look through aquarium glass: 

    The new D435e RealSense industrial camera by FRAMOS has IP66 protection, meaning that it can be immersed in water, though it lacks the IMU of the D435i.  It costs $1299 USD. 

    I am happy to answer further questions that may spring from the above information.   Good luck!

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