Re: Comparison between realsense D435 vs T265 vs T265+D435 dual setup

Posted by gian on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Comparison-between-realsense-D435-vs-T265-vs-T265-D435-dual-setup-tp6456p6875.html

Thank you Mathieu . I have another doubt : I know that T265  calculates internally its SLAM using VIO and producing /t265/odom/sample topic relative to odom frame.
So the current pose should be determinated relatively to the origin of the odom frame.
When the robot is kidnapped  there is an "interruption" in the /t265/odom/sample odometry ; in this case, does rtabamp rely only on d435 images and on the map to relocalize the robot  ? is the T265 odometry useless from that moment ?
Thanks a lot !
GIan