Optical sensors for indoor navigation: Compatible with MRS System?

[MJavadZallaghi]

As in indoor settings, there is no GPS, I wanted to know about MRS estimators if an optical flow sensor like H-Flow can be used with MRS estimators for making the state estimation better. Have you used an optical flow for this purpose? Is MRS estimator compatible with optical flow sensors like H-Flow?

For indoor navigation (without GPS) I'm planning to use mrs_open_vins_core and my sensor could be RealSense D455. Considering this setup, is having an additional optical flow useful in the MRS state estimation? Or it's not recommended/experienced previously?

Thanks for your insights!

[matemat13]

If you want to use optical flow, you can check out our mrs_optic_flow repository, but I'm not sure how up-to-date it is... You can also plug new sources of self-localization (such as the H-Flow sensor) into the MRS estimator manager, although this will require some tuning and testing. Overall, we didn't have great experience with optflow sensors, but last time we used it was several years ago, so maybe they have gotten better.

If you use OpenVINS, then adding optical flow on top of it will probably not net a big advantage.