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Overview
The Intel RealSense D435i combines the powerful stereo depth sensing of the D435 with an integrated IMU for motion tracking. This compact camera is one of the most widely adopted depth sensors in research and development, with extensive community support and ROS integration.
Key Features
- Active stereoscopic depth sensing
- Depth range: ~0.3m – 3m (optimal)
- Depth resolution up to 1280×720 @ 90fps
- RGB camera: 1920×1080 @ 30fps
- IMU (BMI085) for motion tracking
- IR laser projector for texture-less surfaces
- USB-C 3.1 connectivity
- 87-degree wide FOV
Performance
The D435i’s wide 87-degree field of view makes it excellent for close-range applications like hand tracking and obstacle avoidance. The IMU data integrates seamlessly with visual SLAM algorithms. The IR projector ensures reliable depth on challenging surfaces. At 90fps maximum depth rate, it handles fast-moving scenes well.
Pros and Cons
Pros: Wide FOV, high frame rate (90fps), excellent ROS support, large community, IMU included, active stereo for texture-less surfaces.
Cons: Shorter depth range than D455, rolling shutter on IR sensors, no IP rating, Intel has discontinued consumer line.
Verdict
The Intel RealSense D435i remains the most popular stereo depth camera for robotics research. Its wide FOV, high frame rate, and massive community support make it the default choice for close-range depth sensing applications.
