Re: Map cloud rotation drift

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Map-cloud-rotation-drift-tp9498p9510.html


If the OAK-D has good calibration and correct rectification (I saw on OAK-D cameras, depending on the calibration, that we can see artifacts in the images, don't know if they fixed that), the pose accuracy in stereo mode (Left-Right) would be similar than realsense stereo mode (Left-Right IR cameras).

For point cloud reconstruction, realsense D435 uses a IR dotted pattern that helps estimating depth on textureless surface, but you cannot use stereo IR at the same time. Using D435 in RGB-D mode has better point cloud reconstruction (because of the dotted projector), but motion estimation will be bad (RGB camera has smaller FOV and has more motion blur than the IR cameras).

I don't have experience with Oak-D-Pro, does it have also an IR dotted projector? I guess what I just said about D435 would also apply to Oak-D-Pro. If OAK-D has better RGB camera than D435, then maybe it could be better (in RGB-D mode). Note that realsense and depthai uses different disparity approaches.

Mathieu