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I am trying to implement a visual odometry package with my Intel Realsense camera. Is there a way to implement stereo visual odometry with this camera since the depth is calculated with infrared sensors? I am using viso2_ros package and the realsense package.


Originally posted by cmfuhrman on ROS Answers with karma: 200 on 2018-05-08

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There are two very mature packages I'm aware of that implement both visual odometry and SLAM using depth cameras such as the realsense. Rtabmap and rgbdslam, both of these work with the 3D information that is produced by the realsense.

You don't need to perform your own stereopsis calculations with the Realsense, they calculate depth themselves in a different way.


Originally posted by PeteBlackerThe3rd with karma: 9529 on 2018-05-08

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Original comments

Comment by cmfuhrman on 2018-05-08:
That is exactly what I was looking for. Thank you sir!

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