camera_considerations.md

Camera Considerations

Camera should preferably:

• be ROS integrated
• have built-in IMU
• be industrial: high dynamic range, global shutter, precise calibration
• RGB is better than monochromatic although it depends on detector performance with grayscale images
• have wide FOV
• be stereo
• have good SDK

Available options:

• optor, Tara, loitor 149$
  • pros: cheapest
  • cons: bad sync accordingly to 5
• ZED mini, 449$
  • pros: color
  • cons: rolling shutter, expensive
• DUO mlx, 695$
  • pros: very wide FOV, accurate
  • cons: expensive
• mynt, 249$
  • pros: seems OK accordingly to 5
• intel realsense d435i: 199$
  • pros: integrated depth processor, color
  • cons: narrow baseline

References:

• 1 - rovio wiki
• 2 - rovio wiki
• 3 - rovio issues
• 4 - rovio issues
• 5 - survey of ROS supported cameras

Conclusions:

• Mynt proved to be good for vi-slam, it's the best option available:
  • MYNT-EYE-S-SDK
  • MYNT-EYE-S-SDK-Guide
• Realsense (if for free)