T265 vslam with landmarks and relocalization
I'm extensively testing T265 and its v-slam.
The testing is done on a floor of 20m x 30m with several rooms. Height changes are ignored. T265 is attached to the top of a helmet, shooting towards ceiling during the test. An operator takes this helmet and walk around the floor.
The example ar-advanced from "realsense SDK" is modified so that multiple static nodes can be added by key pressing during the test. 7 landmarks (rs2::set_static_node) are marked out with hopping that they will be used for re-localization and consequently long-term drift will be minimized.
However, as shown in the test results, two rooms are drift away in about 5 minutes walking, re-localization never happened during the test.
Could someone help to check if I have blind points (mistake) during this test?
Can T265 do real slam with map optimization at the loop point?
Many thanks]
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I recommend re-posting your message at the RealSense GitHub forum, as they have specialist T265 experts on the RealSense team there who can best answer your questions. You can do so by visiting the link below and clicking on the New Issue button. I apologise for the inconvenience.
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Thanks. here is the link
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So far, no one is interested in or wants to answer this question. Could someone help?
Feature detection and landmarks are in the white paper of T265:
https://dev.intelrealsense.com/docs/intel-realsensetm-visual-slam-and-the-t265-tracking-camera
Long-term drifts are, however, very easy to be observed in the tests.
The github (librealsense) is more about the wrapers on the realsense firmware. This question is more for the firmware than for the wrapers.
Could the firmware team give some information?
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Your copy of the question on the GitHub remains the best place to get an answer to this question. Somebody from the RealSense team will post a response on that GitHub question at some point, though I cannot provide a time estimate of when that will happen, unfortunately. I am the only person who works on this forum here, so I have no further advice that I can provide here. I do apologise.
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