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    VIO uses only tracking camera and no ToF data on voxlcam?

    GPS-denied Navigation (VIO)
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    • A
      Arjun Jain
      last edited by 23 Aug 2022, 13:19

      Hi all! I wanted to confirm if the following was true:

      1. The ToF data is used for collision avoidance feature
      2. The downward facing cameras a used for apriltag localization and for tracking features on the ground for VIO.

      If true, why are we not using also the ToF for the localization and VIO? Another related question is can we have vertical apriltags (like on walls) and also re-localize based on them?

      Many thanks in advance.

      A 1 Reply Last reply 25 Aug 2022, 01:44 Reply Quote 0
      • A
        Arjun Jain @Arjun Jain
        last edited by 25 Aug 2022, 01:44

        @Alex-Gardner anyone? Thanks in advance for your answer.

        1 Reply Last reply Reply Quote 0
        • ?
          A Former User
          last edited by A Former User 25 Aug 2022, 17:05 25 Aug 2022, 17:03

          Hi,

          For both 1 and 2 you are correct. Our current VIO setup using only the tracking camera performs quite well and is lightweight. Leveraging the ToF data for VIO would take significantly more compute resources and would not necessarily result in a large improvement. Our goal is to keep the VIO system as light as possible in terms of compute resources so that customers have more room to play with when they layer on their own software.

          As for your question about apriltags, it is possible to set them vertically.

          A 1 Reply Last reply 26 Aug 2022, 02:58 Reply Quote 0
          • A
            Arjun Jain @Guest
            last edited by 26 Aug 2022, 02:58

            @Matthew-Booker thank you! 🙏

            1 Reply Last reply Reply Quote 0
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