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Visual odometry from RealSense stereo for drift correction #586

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opened 2026-03-14 12:15:38 -04:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-14 12:15:38 -04:00
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Implement visual odometry using RealSense D435i stereo cameras.Requirements:- Subscribe to /camera/infra1/image_rect_raw and /camera/infra2/image_rect_raw- Feature extraction and matching (ORB or FAST+BRIEF)- Frame-to-frame motion estimation via essential matrix- Scale from depth channel or stereo baseline- Publish nav_msgs/Odometry on /saltybot/visual_odom- TF2: camera_link relative to odom- Integration with UWB-IMU fusion for drift correction- Configurable feature count and matching thresholdDeliverables:- ROS2 Python package: saltybot_visual_odom- Launch file + params YAMLAssigned to: sl-perception

Implement visual odometry using RealSense D435i stereo cameras.**Requirements:**- Subscribe to /camera/infra1/image_rect_raw and /camera/infra2/image_rect_raw- Feature extraction and matching (ORB or FAST+BRIEF)- Frame-to-frame motion estimation via essential matrix- Scale from depth channel or stereo baseline- Publish nav_msgs/Odometry on /saltybot/visual_odom- TF2: camera_link relative to odom- Integration with UWB-IMU fusion for drift correction- Configurable feature count and matching threshold**Deliverables:**- ROS2 Python package: saltybot_visual_odom- Launch file + params YAMLAssigned to: sl-perception
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#586
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