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VINS Fusion on a 435i

#1

Some time ago I went down a deep VIO rabbit hole which led me to try out a bunch of different available packages on different hardware. The combo that I found worked best for me was the Realsense d435i along with VINS fusion and I made a video that shows 3D mapping of my apartment complex using only that camera https://youtu.be/kZzNukC70ak (the map data is integrated using Octomap)

Are there folks here that use VIO or VISLAM algorithms on their robot? What packages do you use and with what hardware?

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#2

Thank you for sharing!
We are adventuring into the same rabbit hole very soon :wink:

#3

Great work. Can you describe the steps you followed to make this work.
I am struggling with the correct setup, having tried different sensors. Can you point me to the right direction or if possible repository (git page) to share your work.

Thanks

#4

Most of the hurdles were around getting a good calibration for the camera. Also vins fusion tends to be kind of unstable when using the IMU if your calibration is off (kind of ironic I think) so try running things in stereo only mode first and see if that works (there will be no notion of “up” but it should run quite well otherwise).

I’ll make a gist with my calibration and launch files later today.

#5

Hi,

Thanks for the reply and I really appreciate your kind help in sharing the files. One thing, doesn’t the d435i comes factory calibrated? Is it absolutely necessary to run the calibration prior to testing.

Thanks

Alex