is it possible to track velocity with the T265?

[HDiet]

is it possible to track the velocity of my robot with the T265 attached on that robot? The T265 looks at the ground with a distance of 200mm to the ground. The velocity of my robot is between 5 and 70cm/minute and the traveled distance is max. 2m. What is the accuracy of the tracked velocity?

best regards, hanzdieter

[MartyG]

The T265 can produce samples containing linear and angular velocity with its '6DOF Pose' feature. The pose is hardware-generated at 262 Hz. Intel have produced a guide to getting IMU data from the D435i or T265.

https://www.intelrealsense.com/how-to-getting-imu-data-from-d435i-and-t265/

[HDiet]

Hello MartyG

thanks for your answer. So I think it´s possible to use is. From acceleration sensors I know that they are drifting away, which leads to errors in position and velocity. Does the T265 also have this issue?

[MartyG]

The T265 can use 'wheel odometry' to increase its accuracy.

​https://github.com/IntelRealSense/librealsense/blob/master/doc/t265.md#what-is-wheel-odometry-and-how-does-it-help-t265-navigate

Edit: a user on the RealSense GitHub posted their own test data about drift.

https://github.com/IntelRealSense/librealsense/issues/4412#issuecomment-511059890