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Good Stereo Vision System for Autonomous Driving

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

farhad-bat gravatar image

Hello,

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?

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

chased11 gravatar image

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

Hello,

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.

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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

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

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Last updated: Jan 25 '23