Mavros Vision pose fusion with T265 and D435i: VINS-Fusion
● T265 odometry and VINS-Fusion on D435i with Pixhawk4 mini IMU to fly without GPS
● T265 showed the great performance thanks to its large FoV around 160 degree.
● VINS-Fusion showed slight divergence when rotated/moved fast
- Platform apperance

- When moved slowly,
- the shortest, and the thickest axis : T265
- longer, thiner : VINS-Fusion on D435i with pixhawk4 mini IMU
- longer, thiner : /mavros/local_position/pose position, EKF filtered from PX4
- the longest, the thinnest : input /mavros/vision_pose/pose, which is fused with T265 and VINS-Fusion
- When moved fast,
- the shortest, and the thickest axis, far right : T265
- longer, thiner, far left : VINS-Fusion on D435i with pixhawk4 mini IMU
- longer, thiner : /mavros/local_position/pose position, EKF filtered from PX4
- the longest, the thinnest : input /mavros/vision_pose/pose, which is fused with T265 and VINS-Fusion