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

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Comparison-between-realsense-D435-vs-T265-vs-T265-D435-dual-setup-tp6456p6876.html


If /t265 gets lost, there is no mechanism to recover correctly. With rtabmap's odometry, we send a null odometry value to notify that we cannot compute odometry anymore. We also send a large covariance when it restarts so that the rtabmap node knows that odometry has been reset and a new map is created. With T265, I didn't test that case (assuming that it is never lost!).

However, if the robot is shutdown and restarted, rtabmap will localize in the previous map using D435, and still use T265 for odometry.

cheers,
Mathieu