ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Good Stereo Vision System for Autonomous Driving

asked 2023-01-25 11:04:42 -0600

farhad-bat gravatar image


I am looking for a good stereo system for autonomous driving. I do not want to build a stereo system myself because it has a lot of problems such syncronization, calibration, etc.

I search and find stereo systems such as Realsense or Zed 2; however, these are suitable for indoor and small spaces not outdoor and autonomous driving.

The only thing that I found was "zed 2i 4 mm" and "Scarlet 3D Depth Camera with 25 cm baseline". I am not sure zed 2i 4 mm suffice my need. "Scarlet 3D Depth Camera with 25 cm baseline" is what I want; however it is so expensive.

My questions: - Do you thing ""zed 2i 4 mm" is suitable for autonomous vehicle and outdoor environment such as streets? - Do you have another suggestions?

edit retag flag offensive close merge delete

1 Answer

Sort by » oldest newest most voted

answered 2023-01-25 22:11:46 -0600

chased11 gravatar image

updated 2023-01-25 22:13:09 -0600


I used the intel d435i camera here with rtabmap.

It works pretty well outside, and works even better alongside lidar (I just used the camera). All localization was from fused encoder+imu+(gps - still working to consistently work with gps) odometry, as visual odometry typically isn't good outdoors. I will clean up the github soon, but the only two relevant launch files are camera.launch and voxelgrid_throt.launch.

edit flag offensive delete link more


Do you have any video or image from outside? Thanks for reply.

farhad-bat gravatar image farhad-bat  ( 2023-01-26 08:25:30 -0600 )edit

Not yet. Eventually will have a video linked on there that shows the robot driving and the RVIZ view.

chased11 gravatar image chased11  ( 2023-01-26 13:10:03 -0600 )edit

Question Tools

1 follower


Asked: 2023-01-25 11:04:42 -0600

Seen: 212 times

Last updated: Jan 25 '23