Pose drifts on specific environment

[Alexa]

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[matlabbe]

Can you show a picture of what looks like inside the pipe? What is the radius of the pipes? Is it dark? If T265 is drifting that much, probably there are not a lot of visual features...

I am think the worst scenario: dark, no texture, small, flat geometry, maybe you may need to get the odometry a different way. I mix of IMU and wheel odometry could maybe give a good estimate. In that scenario a 2d lidar may not help that much.

[Alexa]

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[matlabbe]

Hi Alexa,

Just found other similar posts:
http://official-rtab-map-forum.206.s1.nabble.com/Cloud-warping-and-lost-odometry-when-scanning-confined-space-td8533.html#a8552
http://official-rtab-map-forum.206.s1.nabble.com/Distortion-in-overlaps-of-database-on-RTAB-Map-for-iOS-td8745.html

I think there are enough visual features to use visual odometry, so not sure why the T265 is diverging that much. You may try rtabmap's odometry to compare. Here is comparison of some combinations of T265 and D435 cameras. Note that it may not be easy to setup T265 to get stereo images with calibration. You could try first with the D435i alone, following the RealSense D435i camera (IR-Depth) example.

cheers,
Mathieu

[Alexa]

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[matlabbe]

Can you share a database? In term of quality, stereo cameras don't give super accurate geometry, in particular if you want to measure in mm.

For measuring, you may need to export the point cloud / mesh and open it in another 3D software that can provide a measuring tool (example).