Dual camera setup with flexible link

Posted by joko on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Dual-camera-setup-with-flexible-link-tp9664.html

Hi Mathieu,

I am currently working on a system with two Realsense D435i cameras looking in opposite directions from each other. They are connected by a flexible joint with one (limited) rotary degree of freedom, so the FOVs never overlap. I can calculate the relative position of the two cameras by comparing the IMU data of the two.
However, this means that the link between the cameras is not fixed throughout the mapping process. Does this have a negative effect on the loop closure or any other part of the algorithm?

I appreciate any advice you can provide.
Best regards,
Johannes