Intel RealSense T265 Report


[TOC]

Overview

Tech Specs

  • Intel® Movidius™ Myriad™ 2.0 VPU: Visual Processing Unit optimized to run V‑SLAM at low power
  • Two Fisheye lenses
    • FOV: close to hemispherical 163±5° field of view
    • Resolution: 840x800
    • Frame Rate: 30 FPS
    • Image Format: Y8
    • sensor: OV9282
  • BMI055 IMU
    • Gyroscope
      • Frame Rate: 200 FPS
    • Accelerator
      • Frame Rate: 62 FPS
  • infrared cut filter: The T265 features an infrared cut filter over the lenses, allowing it to ignore the projected patterns from D400 series depth cameras
  • pose output
    • Format: 6DOF
    • Frame Rate: 200 FPS

Install

  • https://www.intelrealsense.com/developers/

Run

realsense-viewer

Test

Results

  • 相机前视,运行正常,回到原点

  • 相机下视,运行正常,最终离原点误差 0.8m 左右

  • 快速运动(某些地方来回快速挥动),正常运行,不飞,最终离原点误差 2m 左右

  • 遮挡右目,正常运行,最终离原点误差 0.7m 左右

  • 遮挡左目,正常运行,最终离原点误差 2m 左右

Conclusion

pros

  • 相机前视,正常运动,回到原点
  • 快速运动(手快速来回挥动)不会飞,不过最终到原点的误差会差些
  • 相机下视(看到的都是地毯),也会正常运行,不过最终到原点的误差会差些
  • 遮挡任一相机(单目状态),也会正常运行,不过最终到原点的误差会差些

cons

  • 回环检测(貌似没有,待确定)
  • 运行中静止一段时间,有时SLAM挂掉
  • SLAM挂掉后有时需要重新插拔T265后才能正常启动



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