A D435 should be able to be connected directly to an Arduino Due, as it has an ARM processor (the 400 Series cameras work with any Intel or ARM processor) and has a USB OTG port to attach the camera to.
https://store.arduino.cc/due
I cannot see any way that the D435 could function directly with the Arduino Uno though unfortunately, as its ATMega processor does not seem to be based on the ARM architecture. There have been examples in the past though where RealSense has been able to communicate indirectly with an Arduino board.
This was done by connecting the camera to a full PC, and setting up a serial connection between the PC and the Arduino board. The serial connection could only handle simple raw data though rather than anything very complex like a full computer with a USB cable connection could handle.
