Intel T265 with Orb SLAM 2

• Official comment

  Rizvi, Sahira

  • August 30, 2021 23:04

  Hi Rakshith,

  I found this comparative study where they use ORB Slam 2 with the T265 with the following conclusion:

   

  "The Absolute Trajectory Error, the Relative Trajectory Error and the Euclidian Distance Error metrics were employed to benchmark the localization accuracy from ORB-SLAM2 and T265. The results show a competitive accuracy of both systems for a handheld camera in an indoor industrial environment with a better reliability with the T265 Tracking system." 

  I hope this is helpful.

  Best Regards,

  Sahira 

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• Rakshith Madhavan

  • August 31, 2021 09:16

  Hello Rizvi, Sahira, thanks for the link; It seems to be a study comparing ORB SLAM2 on the D435 with the performance of the T265, which is not quite what I wanted. I was looking to use the ORB SLAM2 on the T265 instead. 

   

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• Rizvi, Sahira

  • September 20, 2021 06:34

  Hi Rakshith,

  Actually, ORB SLAM2 cannot be run in T265 since the T265 uses a proprietary built-in SLAM solution that cannot be changed. ORB SLAM 2 can be used with the D435 because the D435 does not have a built-in SLAM solution.

  I apologize for not informing you sooner. Please let me know if you have any further questions. 

  Sincerely,

  Sahira 

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• Fastermaster12

  • October 20, 2021 13:26

  Well that is wrong. The T265 outputs 2 raw fisheye images which can be piped to ORB_SLAM or OpenVSLAM for improved camera pose tracking. For example, openvslam_ros can output an odometry message which can then be used with rtabmap. You will need to do some work to create a camera calibration file and it doesn't look like anyone has actually done it yet.

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