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Real-Time RGB-D SLAM with Intel D455 by harshvardhan1676 is a document available to read on EtoBox.

What is Real-Time RGB-D SLAM with Intel D455 about?

This project develops a real-time RGB-D visual odometry and SLAM system using the Intel RealSense D455 camera and RTAB-Map under ROS2, focusing on 6-DoF pose estimation. The system integrates feature-based visual odometry, depth-assisted scaling, and IMU data to achieve accurate localization and mapping in indoor environments. Results demonstrate stable tracking, reduced drift through loop closure, and the generation of dense 3D point clouds, making it applicable for drone navigation and autonomous robotics

Author

harshvardhan1676

Language

EN