RTAB-Map stereo odometry inaccurate with ZED2i vs ZED

Posted by aryckman on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-stereo-odometry-inaccurate-with-ZED2i-vs-ZED-tp9316.html

I have been using the ZED2i with RTAB-Map stereo odometry and have gotten consistently inaccurate results. When walking in a straight line with a handheld ZED2i for 3.8 meters, the transform from /tf measures a 3.1 meter displacement. This error seems to increase somewhat linearly as distance traveled increases.

I also have access to an original ZED camera and the odometry is much more accurate with it when the same experiment as above is conducted. Could you advise me on any additional features/parameters the ZED2i has that might result in this discrepancy?

I have already tried calibrating the ZED2i with little/no observable improvement.

Thanks in advance!