Re: implementing rtabmap_drone_example in real drone

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/implementing-rtabmap-drone-example-in-real-drone-tp10688p10721.html

Visual odometry varies around 200-250 ms, which is 4-5 Hz you are seeing, so it is a kind of a CPU limitation. A RPI5 would be probably better. You could try streaming to a remote computer just to compare, in case you can stream images over wifi without problem.

For the drone drifting, you can compare with visual odometry if it is also drifting. If not, maybe it is because the VO delay is too high and EKF filter of PX4 is ignoring it. One way to go around that is to re-stamp the VO poses before sending to PX4 (that is what we do here).

If you are using a D435, I'll strongly recommend to use infra1 + depth image (with Ir emitter disabled) instead of RGB/Depth.

cheers,
Mathieu