# VINS Fusion on a 435i

**URL:** <https://discourse.openrobotics.org/t/vins-fusion-on-a-435i/10937>\
**Category:** Computer Vision / Perception\
**Created:** [October 9, 2019, 6:27am UTC](https://discourse.openrobotics.org/t/vins-fusion-on-a-435i/10937 "2019-10-09T06:27:14Z")\
**Posts on this page:** 6\
**Page:** 1

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**Author:** ![safijari](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/safijari/32/4497_2.png) [@safijari](https://discourse.openrobotics.org/u/safijari)\
**Post date:** [October 9, 2019, 6:27am UTC](https://discourse.openrobotics.org/t/vins-fusion-on-a-435i/10937/1 "2019-10-09T06:27:14Z")

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Some time ago I went down a deep VIO rabbit hole which led me to try out a bunch of different available packages on different hardware. The combo that I found worked best for me was the Realsense d435i along with VINS fusion and I made a video that shows 3D mapping of my apartment complex using only that camera [https://youtu.be/kZzNukC70ak](https://youtu.be/kZzNukC70ak) (the map data is integrated using Octomap)

Are there folks here that use VIO or VISLAM algorithms on their robot? What packages do you use and with what hardware?

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**Author:** ![facontidavide](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/facontidavide/32/1674_2.png) [@facontidavide](https://discourse.openrobotics.org/u/facontidavide)\
**Post date:** [October 9, 2019, 7:20am UTC](https://discourse.openrobotics.org/t/vins-fusion-on-a-435i/10937/2 "2019-10-09T07:20:00Z")

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Thank you for sharing!  
We are adventuring into the same rabbit hole very soon 😉

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**Author:** ![alexr](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/alexr/32/4637_2.png) [@alexr](https://discourse.openrobotics.org/u/alexr)\
**Post date:** [October 9, 2019, 8:08am UTC](https://discourse.openrobotics.org/t/vins-fusion-on-a-435i/10937/3 "2019-10-09T08:08:17Z")

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Great work. Can you describe the steps you followed to make this work.  
I am struggling with the correct setup, having tried different sensors. Can you point me to the right direction or if possible repository (git page) to share your work.

Thanks

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**Author:** ![safijari](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/safijari/32/4497_2.png) [@safijari](https://discourse.openrobotics.org/u/safijari)\
**Post date:** [October 9, 2019, 8:17pm UTC](https://discourse.openrobotics.org/t/vins-fusion-on-a-435i/10937/4 "2019-10-09T20:17:01Z")

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Most of the hurdles were around getting a good calibration for the camera. Also vins fusion tends to be kind of unstable when using the IMU if your calibration is off (kind of ironic I think) so try running things in stereo only mode first and see if that works (there will be no notion of “up” but it should run quite well otherwise).

I’ll make a gist with my calibration and launch files later today.

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**Author:** ![alexr](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/alexr/32/4637_2.png) [@alexr](https://discourse.openrobotics.org/u/alexr)\
**Post date:** [October 10, 2019, 6:25am UTC](https://discourse.openrobotics.org/t/vins-fusion-on-a-435i/10937/5 "2019-10-10T06:25:16Z")

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Hi,

Thanks for the reply and I really appreciate your kind help in sharing the files. One thing, doesn’t the d435i comes factory calibrated? Is it absolutely necessary to run the calibration prior to testing.

Thanks

Alex

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**Author:** ![alexr](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/alexr/32/4637_2.png) [@alexr](https://discourse.openrobotics.org/u/alexr)\
**Post date:** [December 3, 2019, 2:24am UTC](https://discourse.openrobotics.org/t/vins-fusion-on-a-435i/10937/6 "2019-12-03T02:24:05Z")

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Hi,  
Any update on this.

Thanks