OAK4 SoM or OAK FFC 6p for 4x cam SLAM and VIO

seb234

The FCC 6p is not tin the documentation anymore. And the OAK4 SoM doesn't state SLAM and VIO capabilities NOR 4 cams at the same time explicitly. Can you enlighten me?

Oskar-Luxonis

Hey seb234 - OAK-FFC 6P is no longer available, it was discontinued and removed from the current docs.

OAK4 / RVC4 does support multi-camera use. The RVC4 platform exposes multiple MIPI camera interfaces and supports up to 5 concurrent camera streams, with up to 3 ISP-processed streams plus additional raw streams. So 4 cameras is in scope from the platform side, depending on the exact sensors, resolution/FPS, and whether you need all streams ISP-processed.

For SLAM/VIO specifically, the current DepthAI v3 examples are based on a stereo pair plus IMU, not a 4-camera VIO pipeline. The documented examples use BasaltVIO with left/right cameras and IMU, and an additional RTABMapSLAM example builds SLAM from stereo depth/rectified frames and odometry. These VSLAM nodes are currently marked as early access/preview...

Best,
Oskar

seb234

Thanks for the clarification!

How about having 2 stereo setups (2xFFC-OV9282 150V) each? one front one back… You seam to have done a 2x stereo setup in the RAE Project. But does the OAK4 SoM support this for SLAM?

Oskar-Luxonis

seb234 - Yes, two stereo pairs should be possible from the OAK4 SoM camera-interface side, depending on the carrier board, sensors, resolution/FPS, and bandwidth.

For SLAM/VIO specifically, the documented DepthAI v3 examples currently use one stereo pair + IMU. There isn't two stereo example yet...