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Mavros Vision pose fusion with T265 and D435i: VINS-Fusion

09 Nov 2020

Reading time : 1 minute

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
Fixed platform


  • 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