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Intel RealSense D435i – Leo Integration
Perception integration kit featuring the Intel RealSense D435i stereo depth camera with an integrated 6-DoF IMU. Designed for Leo Rover, it includes custom mounting hardware, strain-relieved cabling, and a step-by-step ROS / ROS 2 guide to launch the driver and stream RGB-D images, point clouds, and IMU data.
The Intel RealSense D435i Integration Kit provides a dedicated spatial vision stack for the Leo Rover top mounting plate. Combining active IR stereo depth sensors with an integrated 6-DoF IMU (BMI055), it delivers synchronized depth and acceleration telemetry required for Visual-Inertial Odometry (VIO) and 3D SLAM. The kit includes a custom PETG mounting bracket and a step-by-step setup guide to launch the ROS / ROS 2 driver, publishing RGB-D image streams, point clouds, and IMU data without manually configuring transformation matrices (tf).
Why engineers choose this
- Integrated 6-DoF IMU: Combines wide-angle stereo depth with synchronized accelerometer and gyro telemetry, enabling Visual-Inertial SLAM (e.g., RTAB-Map, ORB-SLAM3).
- Dedicated Leo Rover Mount: PETG bracket attaches directly to the standard M5 top plate hole pattern, maintaining sensor alignment under vehicle vibration.
- Documented ROS / ROS 2 Driver Setup: Step-by-step guide and launch files for the
realsense2_camerawrapper to expose image, depth, point cloud, and IMU topics with calibrated transformation frames (tf). - Wide Field of View: 87° × 58° depth FOV captures spatial data close to the chassis, reducing blind spots directly in front of the rover.
- Zero Warranty Restrictions: Full access to CAD models (.STEP) and open-source driver configs, allowing custom physical and software modifications.
Applications
- Visual-Inertial Odometry (VIO): Fusing optical flow and IMU telemetry to maintain accurate trajectory tracking in GPS-denied environments.
- 3D Pointcloud SLAM: Generating dense volumetric 3D maps using RTAB-Map or OctoMap for field surveying.
- Autonomous Obstacle Avoidance: Integrating real-time depth maps into ROS 2 Nav2 local costmaps for dynamic path planning.
- Academic Perception Research: Serving as a standardized visual sensor setup for university robotics labs and benchmark testing.
What’s in the box
- 1 x Intel RealSense D435i Depth Camera
- 1 x Custom Leo Rover mounting bracket
- 1 x USB 3.0 Type-C to Type-A cable
- 1 x Fastener set
Specs
- Parameter Specification
- Depth Technology Active IR Stereo (Global Shutter)
- Depth Field of View (FOV) 87° × 58° (±3°)
- Depth Output Resolution Up to 1280 × 720 @ 90 fps
- Inertial Measurement Unit (IMU) BMI055 (6-DoF: 3-axis Gyroscope + 3-axis Accelerometer)
- RGB Sensor Resolution & FOV 1920 × 1080 @ 30 fps
- Min Depth Distance (Z-min) 0.28 m
- Interface / Power USB 3.1 Gen 1 (USB-C)
- Mechanical Mounting Direct fit to Leo Rover top plate M5 grid
- Middleware & OS Ubuntu 22.04 / 24.04 LTS
- Dimensions 90 mm × 25 mm × 25 mm
