6 DoF Tracking with a OAK-D Device?

DaveyDave32

Hi,

I'm interested in an OAK device that can calculate the 6-DoF camera pose relative the outside world (preferably with the help of integral IMUs), one assumes using visual odometry techniques. Basically, I'm looking for a replacement for the now obsolete Intel RealSense T265 sensor.

Any ideas? Thanks for any pointers,

Dave

jakaskerl

Hi DaveyDave32
The OAK-D device is capable of calculating the 6-DoF camera pose relative to the outside world. It has an integrated BNO085, a 9-axis IMU (Inertial Measurement Unit). However, due to supply chain issues, most of the OAK cameras that were manufactured between Q2 2021 and Q2 2023 have integrated BMI270 - 6-axis IMU instead. You can write to support@luxonis.com and explicitly ask for a BNO IMU, which I would recommend over BMI for your use case.
If you need active stereo as well, go for the pro variant.

More info here and our docs.

Thanks,
Jaka

DaveyDave32

Thanks Jaka. Do you any further information on that please? I've looked at your suggested links and they are not particularly useful for 6 DoF tracking. I note that 6-DoF tracking (or even SLAM) doesn't seem to be an advertised function of the OAK-D sensors. Where is the processing for the localization done? Is this done in the device itself, or is it assumed that the host processor would perform the required processing?

Regards,

Dave

jakaskerl

Hi DaveyDave32
Maybe this thread (https://docs.luxonis.com/en/latest/pages/slam_oak/) helps you. The SLAM does not run on the device currently.
It should be implemented on RVC3 devices soon (not sure when though).

Thanks,
Jaka