Choosing camera to start my project using VSLAM

Autonomous Machines Robotics - Isaac Isaac ROS
,
1

I just want to start my robotic wheelchair using the ISAAC ROS VSLAM and I’m not sure which type of stereo camera is supported by cuSLAM or the VSLAM. did some research and it shows that [Intel Realsense Family], [Stereolabs ZED 2 and ZED X] and [Leopard Imaging Hawk 3D Depth Camera] are those that are supported but these cameras are so expensive.

I want to ask: is there any camera that is cheaper and is supported? or is there any way that i can use 2 individual cameras?

2

binocular camera module which features dual IMX219 cameras
image
Is this supported?

3

Hi @clementchiengcze

thank you for your message. Isaac ROS is tested on multiple cameras and you can find a list here Sensors Setup — isaac_ros_docs documentation

Obviusly you can try other stereo cameras that support the output Isaac ROS vslam require to work.

For your specific reference:

The IMX219-83 Stereo Camera is not a synchronized camera and the output from the two camera is not synchronized.

for a vslam this is a mandatory requirement to properly build a differential map and after a depth map. Without this type of output Isaac ROS vslam doesn’t work.

I hope this reply helped you.

Best,
Raffaello

4

Thanks for your reply,
I found some other cameras and may I ask which one is supported? I did try to find cameras that is synchornized.

Arducam 2.3MP*2 AR0234 Color Global Shutter Synchronized Stereo Camera Bundle Kit for NVIDIA® Jetson Nano/Xavier NX/AGX Orin/Orin Nano/Orin NX $259.99

Arducam 12MP*2 Synchronized Stereo Camera Bundle Kit for NVIDIA® Jetson Nano/Xavier NX/AGX Orin/Orin Nano/Orin NX, Two 12.3MP 477P Camera Modules with CS Lens and Camarray Stereo Camera HAT

16MP IMX519 Autofocus Synchronized Quad-Camera Kit for Raspberry Pi, NVIDIA® Jetson Nano/Xavier NX/AGX Orin/Orin Nano/Orin NX $169.99

Arducam 8MP*4 Quadrascopic Camera Bundle Kit for Raspberry Pi, Nvidia Jetson Nano/Xavier NX, Four IMX219 Color Camera Modules and Camarray Camera HAT $139.99

#Stereoscopic camera kit

6

Also wanna ask about T265 camera from intel real sense, can it used as the camera?

7

Currently, only Leopard Imaging Hawk 3D Depth Camera is validated in JetPack and Isaac ROS.

Two individual cameras are different compared to a stereo camera. You can build your own stereo camera but have to bring it up to support argus_syncstereo

You can use argus_syncstereo to validate if another stereo system is compatible with Argus.

The T265 is not validated by the Isaac ROS engineers, but looking at the documentation, it is discontinued. Please check before using if their drivers are updated and also supported from librealsense library and the ROS2 realsense package

8

Thanks for your reply, will try to check on T265 camera. Leopard camera is to expensive for me but still thanks

1 Like